From a32a320d1402fa467bd1b4012d74525d84e9c818 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Tue, 24 Feb 2026 18:19:05 +0100
Subject: [PATCH 01/16] eval_runner accepts num_episodes

---
 isaaclab_arena/evaluation/eval_runner.py |  9 ++++-----
 isaaclab_arena/evaluation/job_manager.py | 18 ++++++++++++++----
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/isaaclab_arena/evaluation/eval_runner.py b/isaaclab_arena/evaluation/eval_runner.py
index 798eefe9c..d3f3c294f 100644
--- a/isaaclab_arena/evaluation/eval_runner.py
+++ b/isaaclab_arena/evaluation/eval_runner.py
@@ -122,15 +122,14 @@ def main():
 
                     policy = get_policy_from_job(job)
 
-                    # priority of setting num_steps is: job -> policy -> args_cli
-                    # jobs may need different num_steps than the default num_steps from the policy or the args_cli
-                    if job.num_steps is None:
+                    # Resolve simulation length: num_steps and num_episodes are mutually exclusive.
+                    # Priority: job config -> policy length -> CLI default
+                    if job.num_steps is None and job.num_episodes is None:
                         if policy.has_length():
                             job.num_steps = policy.length()
                         else:
                             job.num_steps = args_cli.num_steps
-                    # TODO (xinjieyao, 2026-02-19): add num_episodes support
-                    metrics = rollout_policy(env, policy, num_steps=job.num_steps, num_episodes=None)
+                    metrics = rollout_policy(env, policy, num_steps=job.num_steps, num_episodes=job.num_episodes)
 
                     job_manager.complete_job(job, metrics=metrics, status=Status.COMPLETED)
 
diff --git a/isaaclab_arena/evaluation/job_manager.py b/isaaclab_arena/evaluation/job_manager.py
index ed672d2f7..e77a9e3fd 100644
--- a/isaaclab_arena/evaluation/job_manager.py
+++ b/isaaclab_arena/evaluation/job_manager.py
@@ -24,6 +24,7 @@ def __init__(
         arena_env_args: list[str],
         policy_type: str,
         num_steps: int = None,
+        num_episodes: int = None,
         policy_config_dict: dict = None,
         status: Status = None,
     ):
@@ -33,7 +34,8 @@ def __init__(
             name: Job name, used to identify the job in the queue and in the logs.
             arena_env_args: arguments for configuring the arena environment
             num_envs: Number of environments to simulate
-            num_steps: Number of steps to run the policy for
+            num_steps: Number of steps to run the policy for (mutually exclusive with num_episodes)
+            num_episodes: Number of episodes to run the policy for (mutually exclusive with num_steps)
             policy_type: Type of policy to use
             policy_config_dict: Dictionary configuration for the policy.
             status: Job status (defaults to PENDING)
@@ -41,8 +43,12 @@ def __init__(
         self.name = name
         self.arena_env_args = arena_env_args
         assert num_envs > 0, "num_envs must be greater than 0"
+        assert not (
+            num_steps is not None and num_episodes is not None
+        ), f"Job '{name}': num_steps and num_episodes are mutually exclusive, got both"
         self.num_envs = num_envs
         self.num_steps = num_steps
+        self.num_episodes = num_episodes
         self.policy_type = policy_type
         self.policy_config_dict = policy_config_dict if policy_config_dict is not None else {}
         self.status = status if status is not None else Status.PENDING
@@ -78,8 +84,11 @@ def from_dict(cls, data: dict) -> "Job":
         if "num_steps" in data and data["num_steps"] is not None:
             num_steps = data["num_steps"]
         else:
-            # will fall back to default num_steps from the policy or the simulation app config
             num_steps = None
+        if "num_episodes" in data and data["num_episodes"] is not None:
+            num_episodes = data["num_episodes"]
+        else:
+            num_episodes = None
         if "status" in data and data["status"] is not None:
             status = Status(data["status"])
         else:
@@ -92,6 +101,7 @@ def from_dict(cls, data: dict) -> "Job":
             policy_type=data["policy_type"],
             num_envs=num_envs,
             num_steps=num_steps,
+            num_episodes=num_episodes,
             policy_config_dict=data["policy_config_dict"],
             status=status,
         )
@@ -223,7 +233,7 @@ def print_jobs_info(self) -> None:
         """Print information about the jobs."""
 
         # print using pretty table as data fields may have various lengths
-        table = PrettyTable(field_names=["Job Name", "Status", "Policy Type", "Num Envs", "Num Steps"])
+        table = PrettyTable(field_names=["Job Name", "Status", "Policy Type", "Num Envs", "Num Steps", "Num Episodes"])
         for job in self.all_jobs:
-            table.add_row([job.name, job.status.value, job.policy_type, job.num_envs, job.num_steps])
+            table.add_row([job.name, job.status.value, job.policy_type, job.num_envs, job.num_steps, job.num_episodes])
         print(table)

From 9d28ecd3e95c1d7427dd69dee35acdd8a5d7be9c Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Wed, 25 Feb 2026 13:46:54 +0100
Subject: [PATCH 02/16] eval_runner job

---
 isaaclab_arena/assets/background_library.py   |  18 +--
 .../droid_pick_and_place_srl_environment.py   |  39 +++---
 .../droid_pnp_srl_gr00t_jobs_config.json      | 115 ++++++++++++++++++
 3 files changed, 144 insertions(+), 28 deletions(-)
 create mode 100644 isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json

diff --git a/isaaclab_arena/assets/background_library.py b/isaaclab_arena/assets/background_library.py
index b129a6e76..c2c85c925 100644
--- a/isaaclab_arena/assets/background_library.py
+++ b/isaaclab_arena/assets/background_library.py
@@ -8,7 +8,6 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_arena.assets.background import Background
-from isaaclab_arena.assets.object_library import ISAACLAB_STAGING_NUCLEUS_DIR
 from isaaclab_arena.assets.register import register_asset
 from isaaclab_arena.utils.pose import Pose
 
@@ -164,17 +163,18 @@ def __init__(self, layout_id: int = 1, style_id: int = 1):
 
 
 @register_asset
-class RubiksCubeBowlBackgroundSRL(LibraryBackground):
+class MapleTableRobolab(LibraryBackground):
     """
-    A rubiks cube bowl background.
+    A maple table background from the Robolab assets.
     """
 
-    name = "rubiks_cube_bowl_srl"
-    tags = ["background"]
-
-    usd_path = (
-        f"{ISAACLAB_STAGING_NUCLEUS_DIR}/Arena/assets/object_library/srl_robolab_assets/scenes/rubiks_cube_bowl.usda"
-    )
+    name = "maple_table_robolab"
+    tags = ["background", "robolab"]
+    # TODO(cvolk): Remove before merging.(Once staging area is updated and usd_path below works.)
+    usd_path = "/datasets/robolab/assets/scenes/maple_table_background.usda"
+    # usd_path = (
+    #    f"{ISAACLAB_STAGING_NUCLEUS_DIR}/Arena/assets/object_library/srl_robolab_assets/scenes/maple_table_background.usda"
+    # )
     object_min_z = -0.05
     spawn_cfg_addon = {"activate_contact_sensors": True}
 
diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index ef067d313..13b64d2c4 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -25,41 +25,40 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.assets.object_base import ObjectType
         from isaaclab_arena.assets.object_reference import ObjectReference
         from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+        from isaaclab_arena.relations.relations import IsAnchor, On
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
 
-        background = self.asset_registry.get_asset_by_name("rubiks_cube_bowl_srl")()
-        rubiks_cube = ObjectReference(
-            name="rubiks_cube",
-            prim_path="{ENV_REGEX_NS}/rubiks_cube_bowl_srl/rubiks_cube",
-            parent_asset=background,
-            object_type=ObjectType.RIGID,
-        )
-        bowl = ObjectReference(
-            name="bowl",
-            prim_path="{ENV_REGEX_NS}/rubiks_cube_bowl_srl/bowl",
+        background = self.asset_registry.get_asset_by_name("maple_table_background")()
+
+        table_reference = ObjectReference(
+            name="table",
+            prim_path="{ENV_REGEX_NS}/maple_table_background/table",
             parent_asset=background,
             object_type=ObjectType.RIGID,
         )
+        table_reference.add_relation(IsAnchor())
+
+        pick_up_object = self.asset_registry.get_asset_by_name(args_cli.pick_up_object)()
+        pick_up_object.add_relation(On(table_reference))
+        destination_location = self.asset_registry.get_asset_by_name(args_cli.destination_location)()
+        destination_location.add_relation(On(table_reference))
 
         light = self.asset_registry.get_asset_by_name("light")(
             spawner_cfg=sim_utils.DomeLightCfg(intensity=500.0),
         )
-        light.add_hdr(self.hdr_registry.get_hdr_by_name("billiard_hall_robolab")())
+        light.add_hdr(self.hdr_registry.get_hdr_by_name(args_cli.hdr)())
 
         embodiment = self.asset_registry.get_asset_by_name(args_cli.embodiment)(
             enable_cameras=args_cli.enable_cameras,
         )
 
-        teleop_device = None
-        if args_cli.teleop_device is not None:
-            teleop_device = self.device_registry.get_device_by_name(args_cli.teleop_device)()
-
-        scene = Scene(assets=[background, light, rubiks_cube, bowl])
+        scene = Scene(assets=[background, light, pick_up_object, destination_location, table_reference])
         task = PickAndPlaceTask(
-            pick_up_object=rubiks_cube,
-            destination_location=bowl,
+            pick_up_object=pick_up_object,
+            destination_location=destination_location,
             background_scene=background,
+            episode_length_s=20.0,
         )
 
         # Set viewport camera to match the robolab droid view
@@ -72,7 +71,6 @@ def _set_viewer_cfg(env_cfg):
             embodiment=embodiment,
             scene=scene,
             task=task,
-            teleop_device=teleop_device,
             env_cfg_callback=_set_viewer_cfg,
         )
         return isaaclab_arena_environment
@@ -81,3 +79,6 @@ def _set_viewer_cfg(env_cfg):
     def add_cli_args(parser: argparse.ArgumentParser) -> None:
         parser.add_argument("--embodiment", type=str, default="droid_abs_joint_pos")
         parser.add_argument("--teleop_device", type=str, default=None)
+        parser.add_argument("--hdr", type=str, default="home_office_robolab")
+        parser.add_argument("--pick_up_object", type=str, default="rubiks_cube_hot3d_robolab")
+        parser.add_argument("--destination_location", type=str, default="bowl_ycb_robolab")
diff --git a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
new file mode 100644
index 000000000..33d903c00
--- /dev/null
+++ b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
@@ -0,0 +1,115 @@
+{
+    "jobs": [
+        {
+            "name": "droid_pnp_srl_gr00t_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_billiard_hall_wooden_bowl",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_blue_block",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_alphabet_soup_can",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "pick_up_object": "alphabet_soup_can_hope_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_orange",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_lemon",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "droid_pnp_srl_gr00t_tomato_sauce_can",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "pick_up_object": "tomato_sauce_can_hot3d_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        }
+    ]
+}

From b8349ddae7ec354ab5f64c5b9a39e4e19555a1a4 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Wed, 25 Feb 2026 15:42:01 +0100
Subject: [PATCH 03/16] Fix background name

---
 .../droid_pick_and_place_srl_environment.py                     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index 13b64d2c4..8087c71f7 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -29,7 +29,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
 
-        background = self.asset_registry.get_asset_by_name("maple_table_background")()
+        background = self.asset_registry.get_asset_by_name("maple_table_robolab")()
 
         table_reference = ObjectReference(
             name="table",

From b5bc839a54810161683210a514b8e37df46a2bb3 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Wed, 25 Feb 2026 15:42:57 +0100
Subject: [PATCH 04/16] Fix background name prim path

---
 .../droid_pick_and_place_srl_environment.py                     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index 8087c71f7..1980c0fbd 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -33,7 +33,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
 
         table_reference = ObjectReference(
             name="table",
-            prim_path="{ENV_REGEX_NS}/maple_table_background/table",
+            prim_path="{ENV_REGEX_NS}/maple_table_robolab/table",
             parent_asset=background,
             object_type=ObjectType.RIGID,
         )

From e7ce9c0319021ec4dfcfe5d1010fbcc66bb130b0 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Wed, 25 Feb 2026 17:40:18 +0100
Subject: [PATCH 05/16] reject overlaps

---
 isaaclab_arena/relations/object_placer.py     | 57 +++++++++---
 .../relations/object_placer_params.py         |  5 ++
 .../tests/test_validate_placement.py          | 89 +++++++++++++++++++
 isaaclab_arena/utils/bounding_box.py          | 18 ++++
 4 files changed, 156 insertions(+), 13 deletions(-)
 create mode 100644 isaaclab_arena/tests/test_validate_placement.py

diff --git a/isaaclab_arena/relations/object_placer.py b/isaaclab_arena/relations/object_placer.py
index 5ca7d7117..e435b1d5b 100644
--- a/isaaclab_arena/relations/object_placer.py
+++ b/isaaclab_arena/relations/object_placer.py
@@ -11,7 +11,7 @@
 from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
 from isaaclab_arena.relations.placement_result import PlacementResult
 from isaaclab_arena.relations.relation_solver import RelationSolver
-from isaaclab_arena.relations.relations import RandomAroundSolution, RotateAroundSolution, get_anchor_objects
+from isaaclab_arena.relations.relations import On, RandomAroundSolution, RotateAroundSolution, get_anchor_objects
 from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox, get_random_pose_within_bounding_box
 from isaaclab_arena.utils.pose import Pose
 
@@ -103,18 +103,20 @@ def place(
             if self.params.verbose:
                 print(f"Attempt {attempt + 1}/{self.params.max_placement_attempts}: loss = {loss:.6f}")
 
-            # Track best result
-            if loss < best_loss:
-                best_loss = loss
-                best_positions = positions
-
             # Check if placement is valid
             if self._validate_placement(positions):
+                best_loss = loss
+                best_positions = positions
                 success = True
                 if self.params.verbose:
                     print(f"Success on attempt {attempt + 1}")
                 break
 
+            # Track best invalid result as fallback
+            if loss < best_loss:
+                best_loss = loss
+                best_positions = positions
+
         # Apply solved positions to objects
         if self.params.apply_positions_to_objects:
             self._apply_positions(best_positions, anchor_objects_set)
@@ -187,20 +189,49 @@ def _validate_placement(
         self,
         positions: dict[Object | ObjectReference, tuple[float, float, float]],
     ) -> bool:
-        """Validate that the placement is geometrically valid.
+        """Validate that no two objects overlap in the XY plane.
+
+        Checks all object pairs for axis-aligned bounding box overlap in the XY
+        (top-down) projection. Pairs connected by an On() relation are skipped
+        because the child is intentionally within the parent's XY footprint.
 
         Args:
-            positions: Dictionary mapping objects to their positions.
+            positions: Dictionary mapping objects to their solved (x, y, z) positions.
 
         Returns:
-            True if placement is valid, False otherwise.
+            True if no forbidden overlaps exist, False otherwise.
         """
-        # TODO(cvolk): Implement geometric checks like:
-        # - Collision detection between objects
-        # - Boundary checks (objects within workspace)
-        print("WARNING: Placement validation not yet implemented. Skipping geometric checks (collision, boundary).")
+        on_pairs = self._collect_on_pairs(positions)
+
+        objects = list(positions.keys())
+        for i in range(len(objects)):
+            for j in range(i + 1, len(objects)):
+                a, b = objects[i], objects[j]
+                if frozenset((a, b)) in on_pairs:
+                    continue
+
+                a_world = a.get_bounding_box().translated(positions[a])
+                b_world = b.get_bounding_box().translated(positions[b])
+
+                if a_world.overlaps_xy(b_world, margin=self.params.min_separation_xy_m):
+                    if self.params.verbose:
+                        print(f"  XY overlap between '{a.name}' and '{b.name}'")
+                    return False
+
         return True
 
+    @staticmethod
+    def _collect_on_pairs(
+        positions: dict[Object | ObjectReference, tuple[float, float, float]],
+    ) -> set[frozenset]:
+        """Build the set of On()-parent-child pairs to exclude from overlap checks."""
+        pairs: set[frozenset] = set()
+        for obj in positions:
+            for rel in obj.get_relations():
+                if isinstance(rel, On):
+                    pairs.add(frozenset((obj, rel.parent)))
+        return pairs
+
     def _apply_positions(
         self,
         positions: dict[Object | ObjectReference, tuple[float, float, float]],
diff --git a/isaaclab_arena/relations/object_placer_params.py b/isaaclab_arena/relations/object_placer_params.py
index 4957fc44b..ad478056c 100644
--- a/isaaclab_arena/relations/object_placer_params.py
+++ b/isaaclab_arena/relations/object_placer_params.py
@@ -33,3 +33,8 @@ class ObjectPlacerParams:
 
     placement_seed: int | None = None
     """Random seed for reproducible placement. If None, uses current RNG state."""
+
+    min_separation_xy_m: float = 0.0
+    """Minimum XY separation (meters) required between non-On-parent object pairs.
+    Set to 0.0 to only reject actual overlaps. A small positive value (e.g. 0.005)
+    adds a safety margin between objects."""
diff --git a/isaaclab_arena/tests/test_validate_placement.py b/isaaclab_arena/tests/test_validate_placement.py
new file mode 100644
index 000000000..537504294
--- /dev/null
+++ b/isaaclab_arena/tests/test_validate_placement.py
@@ -0,0 +1,89 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Tests for ObjectPlacer._validate_placement XY overlap detection."""
+
+from isaaclab_arena.assets.dummy_object import DummyObject
+from isaaclab_arena.relations.object_placer import ObjectPlacer
+from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
+from isaaclab_arena.relations.relations import IsAnchor, On
+from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox
+from isaaclab_arena.utils.pose import Pose
+
+
+def _make_box(name: str, size: float = 0.2) -> DummyObject:
+    half = size / 2
+    return DummyObject(
+        name=name,
+        bounding_box=AxisAlignedBoundingBox(min_point=(-half, -half, -half), max_point=(half, half, half)),
+    )
+
+
+def _make_desk() -> DummyObject:
+    desk = DummyObject(
+        name="desk",
+        bounding_box=AxisAlignedBoundingBox(min_point=(-0.5, -0.5, 0.0), max_point=(0.5, 0.5, 0.05)),
+    )
+    desk.set_initial_pose(Pose(position_xyz=(0.0, 0.0, 0.0), rotation_wxyz=(1.0, 0.0, 0.0, 0.0)))
+    desk.add_relation(IsAnchor())
+    return desk
+
+
+def test_no_overlap_returns_true():
+    """Two boxes far apart should pass validation."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    a = _make_box("a")
+    b = _make_box("b")
+    positions = {a: (0.0, 0.0, 0.0), b: (1.0, 0.0, 0.0)}
+    assert placer._validate_placement(positions) is True
+
+
+def test_overlapping_returns_false():
+    """Two boxes at the same position should fail validation."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    a = _make_box("a")
+    b = _make_box("b")
+    positions = {a: (0.0, 0.0, 0.0), b: (0.0, 0.0, 0.0)}
+    assert placer._validate_placement(positions) is False
+
+
+def test_partial_xy_overlap_returns_false():
+    """Two boxes with partial XY overlap should fail."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    a = _make_box("a", size=0.2)
+    b = _make_box("b", size=0.2)
+    positions = {a: (0.0, 0.0, 0.0), b: (0.1, 0.1, 0.0)}
+    assert placer._validate_placement(positions) is False
+
+
+def test_separated_only_in_z_still_fails():
+    """Two boxes overlapping in XY but separated in Z should still fail (XY projection only)."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    a = _make_box("a")
+    b = _make_box("b")
+    positions = {a: (0.0, 0.0, 0.0), b: (0.0, 0.0, 5.0)}
+    assert placer._validate_placement(positions) is False
+
+
+def test_on_parent_child_pair_is_skipped():
+    """A child On() its parent should not trigger overlap rejection."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    desk = _make_desk()
+    box = _make_box("box", size=0.2)
+    box.add_relation(On(desk))
+    positions = {desk: (0.0, 0.0, 0.0), box: (0.0, 0.0, 0.05)}
+    assert placer._validate_placement(positions) is True
+
+
+def test_siblings_on_same_parent_overlap_rejected():
+    """Two children On() the same parent that overlap each other should fail."""
+    placer = ObjectPlacer(params=ObjectPlacerParams())
+    desk = _make_desk()
+    a = _make_box("a", size=0.2)
+    b = _make_box("b", size=0.2)
+    a.add_relation(On(desk))
+    b.add_relation(On(desk))
+    positions = {desk: (0.0, 0.0, 0.0), a: (0.0, 0.0, 0.05), b: (0.0, 0.0, 0.05)}
+    assert placer._validate_placement(positions) is False
diff --git a/isaaclab_arena/utils/bounding_box.py b/isaaclab_arena/utils/bounding_box.py
index 649b5fb06..81b7fd480 100644
--- a/isaaclab_arena/utils/bounding_box.py
+++ b/isaaclab_arena/utils/bounding_box.py
@@ -154,6 +154,24 @@ def centered(self) -> "AxisAlignedBoundingBox":
             ),
         )
 
+    def overlaps_xy(self, other: "AxisAlignedBoundingBox", margin: float = 0.0) -> bool:
+        """Check if two AABBs overlap in the XY plane (top-down projection).
+
+        Args:
+            other: The other bounding box to test against.
+            margin: Minimum required separation in meters. A positive value
+                rejects placements where the gap is smaller than margin.
+
+        Returns:
+            True if the XY footprints overlap (or are closer than margin).
+        """
+        return (
+            self.max_point[0] + margin > other.min_point[0]
+            and other.max_point[0] + margin > self.min_point[0]
+            and self.max_point[1] + margin > other.min_point[1]
+            and other.max_point[1] + margin > self.min_point[1]
+        )
+
     def rotated_90_around_z(self, quarters: int) -> "AxisAlignedBoundingBox":
         """Rotate AABB by quarters * 90° around Z axis.
 

From 44f8f7882e535f372e99dea2d1ecb3882a8271af Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Thu, 26 Feb 2026 10:35:49 +0100
Subject: [PATCH 06/16] screen record multi stage evaluation

---
 isaaclab_arena/evaluation/eval_runner.py      |    34 +-
 isaaclab_arena/evaluation/eval_runner_cli.py  |    13 +
 isaaclab_arena/evaluation/policy_runner.py    |    11 +-
 .../droid_pick_and_place_srl_environment.py   |     4 +-
 .../droid_pnp_srl_gr00t_jobs_config.json      | 10552 +++++++++++++++-
 5 files changed, 10586 insertions(+), 28 deletions(-)

diff --git a/isaaclab_arena/evaluation/eval_runner.py b/isaaclab_arena/evaluation/eval_runner.py
index d3f3c294f..dc09e75b4 100644
--- a/isaaclab_arena/evaluation/eval_runner.py
+++ b/isaaclab_arena/evaluation/eval_runner.py
@@ -5,6 +5,7 @@
 
 import argparse
 import dataclasses
+import gymnasium as gym
 import json
 import os
 import traceback
@@ -23,7 +24,7 @@
     from isaaclab_arena.policy.policy_base import PolicyBase
 
 
-def load_env(arena_env_args: list[str], job_name: str):
+def load_env(arena_env_args: list[str], job_name: str, render_mode: str | None = None):
 
     reload_arena_modules()
 
@@ -38,7 +39,11 @@ def load_env(arena_env_args: list[str], job_name: str):
     if hasattr(env_cfg, "recorders") and env_cfg.recorders is not None:
         env_cfg.recorders.dataset_filename = f"dataset_{job_name}"
 
-    env = arena_builder.make_registered(env_cfg)
+    if render_mode is not None:
+        # Keep gym wrappers (don't unwrap) so RecordVideo can call render()
+        env = gym.make(env_name, cfg=env_cfg, render_mode=render_mode)
+    else:
+        env = arena_builder.make_registered(env_cfg)
     # Don't reset here - rollout_policy() will reset the env. Every reset triggers a new episode, initializing recorder & creating a new hdf5 entry.
     return env
 
@@ -113,12 +118,17 @@ def main():
 
         job_manager.print_jobs_info()
 
+        video_enabled = hasattr(args_cli, "video") and args_cli.video
+        if video_enabled:
+            os.makedirs(args_cli.video_dir, exist_ok=True)
+            print(f"[INFO] Video recording enabled. Videos will be saved to: {args_cli.video_dir}")
+
         for job in job_manager:
             if job is not None:
                 env = None
                 try:
-                    # Modules reloading first, otherwise 2 instances of same class are created (e.g. Enum)
-                    env = load_env(job.arena_env_args, job.name)
+                    render_mode = "rgb_array" if video_enabled else None
+                    env = load_env(job.arena_env_args, job.name, render_mode=render_mode)
 
                     policy = get_policy_from_job(job)
 
@@ -129,6 +139,22 @@ def main():
                             job.num_steps = policy.length()
                         else:
                             job.num_steps = args_cli.num_steps
+
+                    if video_enabled:
+                        video_length = args_cli.video_length
+                        if video_length is None:
+                            # Default to full run: use num_steps if known, otherwise a large
+                            # upper bound (recording stops when env.close() is called).
+                            video_length = job.num_steps if job.num_steps is not None else 10**7
+                        video_kwargs = {
+                            "video_folder": os.path.join(args_cli.video_dir, job.name),
+                            "step_trigger": lambda step: step == 0,
+                            "video_length": video_length,
+                            "disable_logger": True,
+                        }
+                        print(f"[INFO] Recording video for job '{job.name}' -> {video_kwargs['video_folder']}")
+                        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+
                     metrics = rollout_policy(env, policy, num_steps=job.num_steps, num_episodes=job.num_episodes)
 
                     job_manager.complete_job(job, metrics=metrics, status=Status.COMPLETED)
diff --git a/isaaclab_arena/evaluation/eval_runner_cli.py b/isaaclab_arena/evaluation/eval_runner_cli.py
index 74307da00..5006aaee0 100644
--- a/isaaclab_arena/evaluation/eval_runner_cli.py
+++ b/isaaclab_arena/evaluation/eval_runner_cli.py
@@ -14,3 +14,16 @@ def add_eval_runner_arguments(parser: argparse.ArgumentParser) -> None:
         default="isaaclab_arena_environments/eval_jobs_configs/zero_action_jobs_config.json",
         help="Path to the eval jobs config file.",
     )
+    parser.add_argument("--video", action="store_true", default=False, help="Record videos for each eval job.")
+    parser.add_argument(
+        "--video_length",
+        type=int,
+        default=None,
+        help="Max length of each recorded video (in steps). Defaults to full run length.",
+    )
+    parser.add_argument(
+        "--video_dir",
+        type=str,
+        default="eval_videos",
+        help="Root directory for recorded videos. Each job gets a subdirectory.",
+    )
diff --git a/isaaclab_arena/evaluation/policy_runner.py b/isaaclab_arena/evaluation/policy_runner.py
index f2d1c5a57..a037be1f1 100644
--- a/isaaclab_arena/evaluation/policy_runner.py
+++ b/isaaclab_arena/evaluation/policy_runner.py
@@ -63,11 +63,13 @@ def rollout_policy(
     assert num_steps is not None or num_episodes is not None, "Either num_steps or num_episodes must be provided"
     assert num_steps is None or num_episodes is None, "Only one of num_steps or num_episodes must be provided"
 
+    pbar = None
     try:
         obs, _ = env.reset()
         policy.reset()
         # set task description (could be None) from the task being evaluated
-        policy.set_task_description(env.cfg.isaaclab_arena_env.task.get_task_description())
+        # Use unwrapped to reach the base env through any gym wrappers (e.g. RecordVideo)
+        policy.set_task_description(env.unwrapped.cfg.isaaclab_arena_env.task.get_task_description())
 
         # Setup progress bar based on num_steps or num_episodes
         if num_steps is not None:
@@ -108,16 +110,17 @@ def rollout_policy(
         pbar.close()
 
     except Exception as e:
-        pbar.close()
+        if pbar is not None:
+            pbar.close()
         raise RuntimeError(f"Error rolling out policy: {e}")
 
     else:
         # only compute metrics if env has metrics registered
-        if hasattr(env.cfg, "metrics"):
+        if hasattr(env.unwrapped.cfg, "metrics"):
             # NOTE(xinjieyao, 2025-10-07): lazy import to prevent app stalling caused by omni.kit
             from isaaclab_arena.metrics.metrics import compute_metrics
 
-            metrics = compute_metrics(env)
+            metrics = compute_metrics(env.unwrapped)
             return metrics
         return None
 
diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index 1980c0fbd..9b0fed0e3 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -25,7 +25,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.assets.object_base import ObjectType
         from isaaclab_arena.assets.object_reference import ObjectReference
         from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
-        from isaaclab_arena.relations.relations import IsAnchor, On
+        from isaaclab_arena.relations.relations import AtPosition, IsAnchor, On, RandomAroundSolution
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
 
@@ -43,6 +43,8 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         pick_up_object.add_relation(On(table_reference))
         destination_location = self.asset_registry.get_asset_by_name(args_cli.destination_location)()
         destination_location.add_relation(On(table_reference))
+        destination_location.add_relation(AtPosition(x=0.5, y=0.0))
+        destination_location.add_relation(RandomAroundSolution(x_half_m=0.2, y_half_m=0.25))
 
         light = self.asset_registry.get_asset_by_name("light")(
             spawner_cfg=sim_utils.DomeLightCfg(intensity=500.0),
diff --git a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
index 33d903c00..031a657c6 100644
--- a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
+++ b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
@@ -1,14 +1,33 @@
 {
     "jobs": [
         {
-            "name": "droid_pnp_srl_gr00t_billiard_hall",
+            "name": "pnp_blue_block_basic_ycb_bowl_home_office",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab"
+                "hdr": "home_office_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -16,15 +35,50 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_billiard_hall_wooden_bowl",
+            "name": "pnp_blue_block_basic_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_ycb_bowl_billiard_hall",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
                 "hdr": "billiard_hall_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -32,15 +86,16 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_blue_block",
+            "name": "pnp_blue_block_basic_ycb_bowl_blinds",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
                 "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -48,15 +103,16 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_alphabet_soup_can",
+            "name": "pnp_blue_block_basic_ycb_bowl_kiara_interior",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "pick_up_object": "alphabet_soup_can_hope_robolab",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -64,15 +120,16 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_orange",
+            "name": "pnp_blue_block_basic_ycb_bowl_garage",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "hdr": "garage_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -80,15 +137,10471 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_lemon",
+            "name": "pnp_blue_block_basic_ycb_bowl_wooden_lounge",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_blue_block_basic_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_green_block_basic_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "green_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_block_basic_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "red_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_yellow_block_basic_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "yellow_block_basic_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_avocado01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "avocado01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lemon_02_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lemon_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lime01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lime01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_lychee01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "lychee01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_orange_02_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "orange_02_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_pomegranate01_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "pomegranate01_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_red_onion_fruits_veggies_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "red_onion_fruits_veggies_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_1_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_2_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_2_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_3_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_3_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_4_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_4_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_5_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_5_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_6_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_6_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_7_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_7_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_hammer_8_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "hammer_8_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_ladle_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "ladle_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_cups_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_cups_1_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_cups_1_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_measuring_spoon_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "measuring_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_salad_tongs_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "salad_tongs_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_ycb_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_wooden_lounge",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_photo_studio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "photo_studio_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoon_handal_wood_bowl_carpentry_shop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "carpentry_shop_robolab",
+                "pick_up_object": "serving_spoon_handal_robolab",
+                "destination_location": "wooden_bowl_hot3d_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_home_office",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "home_office_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_empty_warehouse",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "empty_warehouse_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_aerodynamics_workshop",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "aerodynamics_workshop_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_brown_photostudio",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "brown_photostudio_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_blinds",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "blinds_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_kiara_interior",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "kiara_interior_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_steps": 600,
+            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
+            "policy_config_dict": {
+                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
+                "policy_device": "cuda:0"
+            }
+        },
+        {
+            "name": "pnp_serving_spoons_handal_ycb_bowl_garage",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "garage_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -96,15 +10609,16 @@
             }
         },
         {
-            "name": "droid_pnp_srl_gr00t_tomato_sauce_can",
+            "name": "pnp_serving_spoons_handal_ycb_bowl_wooden_lounge",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "pick_up_object": "tomato_sauce_can_hot3d_robolab",
+                "hdr": "wooden_lounge_robolab",
+                "pick_up_object": "serving_spoons_handal_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_episodes": 3,
+            "num_steps": 600,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",

From e782d010e19b1281bd6e2e015418e24de9fbd9c2 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Thu, 26 Feb 2026 14:43:33 +0100
Subject: [PATCH 07/16] Add openpi client

---
 isaaclab_arena/policy/pi0_droid_client.py | 138 ++++++++++++++++++++++
 1 file changed, 138 insertions(+)
 create mode 100644 isaaclab_arena/policy/pi0_droid_client.py

diff --git a/isaaclab_arena/policy/pi0_droid_client.py b/isaaclab_arena/policy/pi0_droid_client.py
new file mode 100644
index 000000000..52a58cfc1
--- /dev/null
+++ b/isaaclab_arena/policy/pi0_droid_client.py
@@ -0,0 +1,138 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Pi0 client policy for DROID environments.
+
+
+# TODO(cvolk)
+/isaac-sim/python.sh -m isaaclab_arena.evaluation.policy_runner   --policy_type isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient   --enable_cameras   --num_episodes 10   --remote_host localhost   --remote_port 8000   droid_pick_and_place_srl   --embodiment droid_rel_joint_pos
+
+
+Thin client that connects directly to an openpi WebSocket server.
+No custom server wrapper needed — uses the upstream pi0 server as-is.
+
+pi0_fast_droid outputs joint *velocities* (7) + gripper position (1),
+clipped to [-1, 1]. Use with ``droid_rel_joint_pos`` embodiment which
+applies the first 7 dims as deltas from the current joint position.
+"""
+
+from __future__ import annotations
+
+import argparse
+import gymnasium as gym
+import numpy as np
+import torch
+from dataclasses import dataclass
+from gymnasium.spaces.dict import Dict as GymSpacesDict
+from typing import Any
+
+from openpi_client import image_tools, websocket_client_policy
+
+from isaaclab_arena.policy.policy_base import PolicyBase
+
+
+@dataclass
+class Pi0DroidClientConfig:
+    remote_host: str = "localhost"
+    remote_port: int = 8000
+    open_loop_horizon: int = 8
+    image_size: int = 224
+    external_camera_key: str = "external_camera_rgb"
+    wrist_camera_key: str = "wrist_camera_rgb"
+
+
+class Pi0DroidClient(PolicyBase):
+    """Client-side policy that talks directly to an openpi WebSocket server.
+
+    Designed for DROID embodiment with joint-position action space.
+    Handles action chunking, image resizing, and gripper binarization locally.
+    """
+
+    config_class = Pi0DroidClientConfig
+
+    def __init__(self, config: Pi0DroidClientConfig) -> None:
+        super().__init__(config=config)
+        self.cfg = config
+
+        print(f"[Pi0DroidClient] Connecting to openpi server at {config.remote_host}:{config.remote_port}...")
+        self.client = websocket_client_policy.WebsocketClientPolicy(config.remote_host, config.remote_port)
+        print("[Pi0DroidClient] Server ready.")
+
+        self._chunk: np.ndarray | None = None
+        self._chunk_idx: int = 0
+        self.task_description: str | None = None
+
+    def get_action(self, env: gym.Env, observation: GymSpacesDict) -> torch.Tensor:
+        if self._chunk is None or self._chunk_idx >= self.cfg.open_loop_horizon:
+            self._chunk_idx = 0
+            self._chunk = self._request_chunk(observation)
+
+        action_np = self._chunk[self._chunk_idx].copy()
+        self._chunk_idx += 1
+
+        # pi0 outputs joint velocities clipped to [-1, 1] for the arm,
+        # and a gripper position for the last dim.
+        action_np[:7] = np.clip(action_np[:7], -1.0, 1.0)
+        action_np[-1] = 1.0 if action_np[-1] > 0.5 else 0.0
+        return torch.tensor(action_np, dtype=torch.float32, device="cuda").unsqueeze(0)
+
+    def reset(self, env_ids: torch.Tensor | None = None) -> None:
+        self._chunk = None
+        self._chunk_idx = 0
+
+    def set_task_description(self, task_description: str | None) -> str:
+        self.task_description = task_description
+        return self.task_description or ""
+
+    def _request_chunk(self, observation: dict[str, Any]) -> np.ndarray:
+        obs = self._extract_observation(observation)
+        sz = self.cfg.image_size
+
+        request = {
+            "observation/exterior_image_1_left": image_tools.resize_with_pad(obs["external_image"], sz, sz),
+            "observation/wrist_image_left": image_tools.resize_with_pad(obs["wrist_image"], sz, sz),
+            "observation/joint_position": obs["joint_position"],
+            "observation/gripper_position": obs["gripper_position"],
+            "prompt": self.task_description or "",
+        }
+
+        response = self.client.infer(request)
+        return response["actions"]
+
+    def _extract_observation(self, obs_dict: dict[str, Any], env_id: int = 0) -> dict[str, np.ndarray]:
+        ext_image = obs_dict["camera_obs"][self.cfg.external_camera_key][env_id].detach().cpu().numpy()
+        wrist_image = obs_dict["camera_obs"][self.cfg.wrist_camera_key][env_id].detach().cpu().numpy()
+        joint_pos = obs_dict["policy"]["joint_pos"][env_id].detach().cpu().numpy()
+        gripper_pos = obs_dict["policy"]["gripper_pos"][env_id].detach().cpu().numpy()
+
+        return {
+            "external_image": ext_image,
+            "wrist_image": wrist_image,
+            "joint_position": joint_pos,
+            "gripper_position": gripper_pos,
+        }
+
+    @staticmethod
+    def add_args_to_parser(parser: argparse.ArgumentParser) -> argparse.ArgumentParser:
+        group = parser.add_argument_group("Pi0 DROID Client")
+        group.add_argument("--remote_host", type=str, default="localhost")
+        group.add_argument("--remote_port", type=int, default=8000)
+        group.add_argument("--open_loop_horizon", type=int, default=8)
+        group.add_argument("--image_size", type=int, default=224)
+        group.add_argument("--external_camera_key", type=str, default="external_camera_rgb")
+        group.add_argument("--wrist_camera_key", type=str, default="wrist_camera_rgb")
+        return parser
+
+    @staticmethod
+    def from_args(args: argparse.Namespace) -> Pi0DroidClient:
+        config = Pi0DroidClientConfig(
+            remote_host=args.remote_host,
+            remote_port=args.remote_port,
+            open_loop_horizon=args.open_loop_horizon,
+            image_size=args.image_size,
+            external_camera_key=args.external_camera_key,
+            wrist_camera_key=args.wrist_camera_key,
+        )
+        return Pi0DroidClient(config)

From 08c450c2449e0d1f045e9c4e11b266de72b67299 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Thu, 26 Feb 2026 14:57:05 +0100
Subject: [PATCH 08/16] Remove local path reference

---
 isaaclab_arena/assets/background_library.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/isaaclab_arena/assets/background_library.py b/isaaclab_arena/assets/background_library.py
index c2c85c925..8e569b69f 100644
--- a/isaaclab_arena/assets/background_library.py
+++ b/isaaclab_arena/assets/background_library.py
@@ -8,6 +8,7 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_arena.assets.background import Background
+from isaaclab_arena.assets.object_library import ISAACLAB_STAGING_NUCLEUS_DIR
 from isaaclab_arena.assets.register import register_asset
 from isaaclab_arena.utils.pose import Pose
 
@@ -170,11 +171,7 @@ class MapleTableRobolab(LibraryBackground):
 
     name = "maple_table_robolab"
     tags = ["background", "robolab"]
-    # TODO(cvolk): Remove before merging.(Once staging area is updated and usd_path below works.)
-    usd_path = "/datasets/robolab/assets/scenes/maple_table_background.usda"
-    # usd_path = (
-    #    f"{ISAACLAB_STAGING_NUCLEUS_DIR}/Arena/assets/object_library/srl_robolab_assets/scenes/maple_table_background.usda"
-    # )
+    usd_path = f"{ISAACLAB_STAGING_NUCLEUS_DIR}/Arena/assets/object_library/srl_robolab_assets/scenes/maple_table_background.usda"
     object_min_z = -0.05
     spawn_cfg_addon = {"activate_contact_sensors": True}
 

From af8defaded7bdde7c3a8d4c7bc36b8411ddc0ca4 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Thu, 26 Feb 2026 15:07:15 +0100
Subject: [PATCH 09/16] Remove leftover

---
 isaaclab_arena/relations/object_placer.py | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/isaaclab_arena/relations/object_placer.py b/isaaclab_arena/relations/object_placer.py
index 573b47ab0..99044baa6 100644
--- a/isaaclab_arena/relations/object_placer.py
+++ b/isaaclab_arena/relations/object_placer.py
@@ -11,7 +11,7 @@
 from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
 from isaaclab_arena.relations.placement_result import PlacementResult
 from isaaclab_arena.relations.relation_solver import RelationSolver
-from isaaclab_arena.relations.relations import On, RandomAroundSolution, RotateAroundSolution, get_anchor_objects
+from isaaclab_arena.relations.relations import RandomAroundSolution, RotateAroundSolution, get_anchor_objects
 from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox, get_random_pose_within_bounding_box
 from isaaclab_arena.utils.pose import Pose
 
@@ -214,18 +214,6 @@ def _validate_placement(
 
         return True
 
-    @staticmethod
-    def _collect_on_pairs(
-        positions: dict[Object | ObjectReference, tuple[float, float, float]],
-    ) -> set[frozenset]:
-        """Build the set of On()-parent-child pairs to exclude from overlap checks."""
-        pairs: set[frozenset] = set()
-        for obj in positions:
-            for rel in obj.get_relations():
-                if isinstance(rel, On):
-                    pairs.add(frozenset((obj, rel.parent)))
-        return pairs
-
     def _apply_positions(
         self,
         positions: dict[Object | ObjectReference, tuple[float, float, float]],

From 42934a3b0d682b233ba83306765a9011e159cfbe Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Thu, 26 Feb 2026 18:24:29 +0100
Subject: [PATCH 10/16] Add droid openpi config jobs

---
 .../droid_pnp_srl_openpi_jobs_config.json     | 131 ++++++++++++++++++
 1 file changed, 131 insertions(+)
 create mode 100644 isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json

diff --git a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json
new file mode 100644
index 000000000..0833d3736
--- /dev/null
+++ b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json
@@ -0,0 +1,131 @@
+{
+    "jobs": [
+        {
+            "name": "droid_pnp_srl_openpi_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "hdr": "billiard_hall_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_billiard_hall_wooden_bowl",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "hdr": "billiard_hall_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_blue_block",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "blue_block_basic_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_alphabet_soup_can",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "alphabet_soup_can_hope_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_orange",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_lemon",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_banana",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "banana_ycb_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        },
+        {
+            "name": "droid_pnp_srl_openpi_tomato_sauce_can",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "droid_pick_and_place_srl",
+                "embodiment": "droid_rel_joint_pos",
+                "pick_up_object": "tomato_sauce_can_hot3d_robolab",
+                "destination_location": "bowl_ycb_robolab"
+            },
+            "num_episodes": 3,
+            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
+            "policy_config_dict": {
+                "remote_host": "localhost",
+                "remote_port": 8000
+            }
+        }
+    ]
+}

From 8c6f5ef65495d0e9f051226c13f657cb88fecb36 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 09:51:00 +0100
Subject: [PATCH 11/16] revert droid_pnp_srl_gr00t_jobs_config.json

---
 .../droid_pnp_srl_gr00t_jobs_config.json      | 10552 +---------------
 1 file changed, 19 insertions(+), 10533 deletions(-)

diff --git a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
index 031a657c6..33d903c00 100644
--- a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
+++ b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_gr00t_jobs_config.json
@@ -1,33 +1,14 @@
 {
     "jobs": [
         {
-            "name": "pnp_blue_block_basic_ycb_bowl_home_office",
+            "name": "droid_pnp_srl_gr00t_billiard_hall",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_empty_warehouse",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
+                "hdr": "billiard_hall_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -35,118 +16,15 @@
             }
         },
         {
-            "name": "pnp_blue_block_basic_ycb_bowl_aerodynamics_workshop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_billiard_hall",
+            "name": "droid_pnp_srl_gr00t_billiard_hall_wooden_bowl",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
                 "hdr": "billiard_hall_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_blinds",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "blinds_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_kiara_interior",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "kiara_interior_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_garage",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "garage_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_ycb_bowl_wooden_lounge",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "wooden_lounge_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -154,16 +32,15 @@
             }
         },
         {
-            "name": "pnp_blue_block_basic_ycb_bowl_photo_studio",
+            "name": "droid_pnp_srl_gr00t_blue_block",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "photo_studio_robolab",
                 "pick_up_object": "blue_block_basic_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -171,50 +48,15 @@
             }
         },
         {
-            "name": "pnp_blue_block_basic_ycb_bowl_carpentry_shop",
+            "name": "droid_pnp_srl_gr00t_alphabet_soup_can",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "carpentry_shop_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
+                "pick_up_object": "alphabet_soup_can_hope_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_home_office",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_empty_warehouse",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -222,169 +64,15 @@
             }
         },
         {
-            "name": "pnp_blue_block_basic_wood_bowl_aerodynamics_workshop",
+            "name": "droid_pnp_srl_gr00t_orange",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_billiard_hall",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_blinds",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "blinds_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_kiara_interior",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "kiara_interior_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_garage",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "garage_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_wooden_lounge",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "wooden_lounge_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_photo_studio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "photo_studio_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_blue_block_basic_wood_bowl_carpentry_shop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "carpentry_shop_robolab",
-                "pick_up_object": "blue_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_home_office",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "green_block_basic_robolab",
+                "pick_up_object": "orange_01_fruits_veggies_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -392,10216 +80,15 @@
             }
         },
         {
-            "name": "pnp_green_block_basic_ycb_bowl_empty_warehouse",
+            "name": "droid_pnp_srl_gr00t_lemon",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_aerodynamics_workshop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_billiard_hall",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_blinds",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "blinds_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_kiara_interior",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "kiara_interior_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_garage",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "garage_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_wooden_lounge",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "wooden_lounge_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_photo_studio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "photo_studio_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_ycb_bowl_carpentry_shop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "carpentry_shop_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_wood_bowl_home_office",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_wood_bowl_empty_warehouse",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_wood_bowl_aerodynamics_workshop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_wood_bowl_billiard_hall",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab",
-                "pick_up_object": "green_block_basic_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_green_block_basic_wood_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
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-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_ycb_bowl_photo_studio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "photo_studio_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_ycb_bowl_carpentry_shop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "carpentry_shop_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_home_office",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_empty_warehouse",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_aerodynamics_workshop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_billiard_hall",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_blinds",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "blinds_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_kiara_interior",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "kiara_interior_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_garage",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "garage_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_wooden_lounge",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "wooden_lounge_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_photo_studio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "photo_studio_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoon_handal_wood_bowl_carpentry_shop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "carpentry_shop_robolab",
-                "pick_up_object": "serving_spoon_handal_robolab",
-                "destination_location": "wooden_bowl_hot3d_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_home_office",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "home_office_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_empty_warehouse",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "empty_warehouse_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_aerodynamics_workshop",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "aerodynamics_workshop_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_billiard_hall",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "billiard_hall_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_brown_photostudio",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "brown_photostudio_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_blinds",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "blinds_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_kiara_interior",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "kiara_interior_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_steps": 600,
-            "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
-            "policy_config_dict": {
-                "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
-                "policy_device": "cuda:0"
-            }
-        },
-        {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_garage",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_abs_joint_pos",
-                "hdr": "garage_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
+                "pick_up_object": "lemon_01_fruits_veggies_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",
@@ -10609,16 +96,15 @@
             }
         },
         {
-            "name": "pnp_serving_spoons_handal_ycb_bowl_wooden_lounge",
+            "name": "droid_pnp_srl_gr00t_tomato_sauce_can",
             "arena_env_args": {
                 "enable_cameras": true,
                 "environment": "droid_pick_and_place_srl",
                 "embodiment": "droid_abs_joint_pos",
-                "hdr": "wooden_lounge_robolab",
-                "pick_up_object": "serving_spoons_handal_robolab",
+                "pick_up_object": "tomato_sauce_can_hot3d_robolab",
                 "destination_location": "bowl_ycb_robolab"
             },
-            "num_steps": 600,
+            "num_episodes": 3,
             "policy_type": "isaaclab_arena_gr00t.policy.gr00t_closedloop_policy.Gr00tClosedloopPolicy",
             "policy_config_dict": {
                 "policy_config_yaml_path": "isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml",

From f76e562662d47b19352c74f6d2e4708d82355d84 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 09:51:21 +0100
Subject: [PATCH 12/16] Remove leftover code

---
 isaaclab_arena/relations/object_placer.py | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/isaaclab_arena/relations/object_placer.py b/isaaclab_arena/relations/object_placer.py
index 573b47ab0..99044baa6 100644
--- a/isaaclab_arena/relations/object_placer.py
+++ b/isaaclab_arena/relations/object_placer.py
@@ -11,7 +11,7 @@
 from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
 from isaaclab_arena.relations.placement_result import PlacementResult
 from isaaclab_arena.relations.relation_solver import RelationSolver
-from isaaclab_arena.relations.relations import On, RandomAroundSolution, RotateAroundSolution, get_anchor_objects
+from isaaclab_arena.relations.relations import RandomAroundSolution, RotateAroundSolution, get_anchor_objects
 from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox, get_random_pose_within_bounding_box
 from isaaclab_arena.utils.pose import Pose
 
@@ -214,18 +214,6 @@ def _validate_placement(
 
         return True
 
-    @staticmethod
-    def _collect_on_pairs(
-        positions: dict[Object | ObjectReference, tuple[float, float, float]],
-    ) -> set[frozenset]:
-        """Build the set of On()-parent-child pairs to exclude from overlap checks."""
-        pairs: set[frozenset] = set()
-        for obj in positions:
-            for rel in obj.get_relations():
-                if isinstance(rel, On):
-                    pairs.add(frozenset((obj, rel.parent)))
-        return pairs
-
     def _apply_positions(
         self,
         positions: dict[Object | ObjectReference, tuple[float, float, float]],

From a69491635e783a5d17999889a53b49397fa885a3 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 09:52:40 +0100
Subject: [PATCH 13/16] Revert droid_pick_and_place_srl_environment.py

---
 .../droid_pick_and_place_srl_environment.py                   | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index 9b0fed0e3..1980c0fbd 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -25,7 +25,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.assets.object_base import ObjectType
         from isaaclab_arena.assets.object_reference import ObjectReference
         from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
-        from isaaclab_arena.relations.relations import AtPosition, IsAnchor, On, RandomAroundSolution
+        from isaaclab_arena.relations.relations import IsAnchor, On
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
 
@@ -43,8 +43,6 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         pick_up_object.add_relation(On(table_reference))
         destination_location = self.asset_registry.get_asset_by_name(args_cli.destination_location)()
         destination_location.add_relation(On(table_reference))
-        destination_location.add_relation(AtPosition(x=0.5, y=0.0))
-        destination_location.add_relation(RandomAroundSolution(x_half_m=0.2, y_half_m=0.25))
 
         light = self.asset_registry.get_asset_by_name("light")(
             spawner_cfg=sim_utils.DomeLightCfg(intensity=500.0),

From 9f1e1cb4a4da0ba18001d776d24fb7c58d29540b Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 11:03:04 +0100
Subject: [PATCH 14/16] Update default path

---
 .../environments/arena_env_builder.py         | 13 +++++++---
 isaaclab_arena/evaluation/eval_runner.py      | 26 +++++++------------
 isaaclab_arena/evaluation/eval_runner_cli.py  |  8 +-----
 3 files changed, 20 insertions(+), 27 deletions(-)

diff --git a/isaaclab_arena/environments/arena_env_builder.py b/isaaclab_arena/environments/arena_env_builder.py
index 772923ae6..a662d6442 100644
--- a/isaaclab_arena/environments/arena_env_builder.py
+++ b/isaaclab_arena/environments/arena_env_builder.py
@@ -289,12 +289,17 @@ def build_registered(
         )
         return name, cfg
 
-    def make_registered(self, env_cfg: None | IsaacLabArenaManagerBasedRLEnvCfg = None) -> ManagerBasedEnv:
-        env, _ = self.make_registered_and_return_cfg(env_cfg)
+    def make_registered(
+        self, env_cfg: None | IsaacLabArenaManagerBasedRLEnvCfg = None, render_mode: str | None = None
+    ) -> ManagerBasedEnv:
+        env, _ = self.make_registered_and_return_cfg(env_cfg, render_mode=render_mode)
         return env
 
     def make_registered_and_return_cfg(
-        self, env_cfg: None | IsaacLabArenaManagerBasedRLEnvCfg = None
+        self, env_cfg: None | IsaacLabArenaManagerBasedRLEnvCfg = None, render_mode: str | None = None
     ) -> tuple[ManagerBasedEnv, IsaacLabArenaManagerBasedRLEnvCfg]:
         name, cfg = self.build_registered(env_cfg)
-        return gym.make(name, cfg=cfg).unwrapped, cfg
+        env = gym.make(name, cfg=cfg, render_mode=render_mode)
+        if render_mode is None:
+            env = env.unwrapped
+        return env, cfg
diff --git a/isaaclab_arena/evaluation/eval_runner.py b/isaaclab_arena/evaluation/eval_runner.py
index dc09e75b4..40932b729 100644
--- a/isaaclab_arena/evaluation/eval_runner.py
+++ b/isaaclab_arena/evaluation/eval_runner.py
@@ -5,10 +5,10 @@
 
 import argparse
 import dataclasses
-import gymnasium as gym
 import json
 import os
 import traceback
+from gymnasium.wrappers import RecordVideo
 from typing import TYPE_CHECKING
 
 from isaaclab_arena.cli.isaaclab_arena_cli import get_isaaclab_arena_cli_parser
@@ -39,11 +39,7 @@ def load_env(arena_env_args: list[str], job_name: str, render_mode: str | None =
     if hasattr(env_cfg, "recorders") and env_cfg.recorders is not None:
         env_cfg.recorders.dataset_filename = f"dataset_{job_name}"
 
-    if render_mode is not None:
-        # Keep gym wrappers (don't unwrap) so RecordVideo can call render()
-        env = gym.make(env_name, cfg=env_cfg, render_mode=render_mode)
-    else:
-        env = arena_builder.make_registered(env_cfg)
+    env = arena_builder.make_registered(env_cfg, render_mode=render_mode)
     # Don't reset here - rollout_policy() will reset the env. Every reset triggers a new episode, initializing recorder & creating a new hdf5 entry.
     return env
 
@@ -118,8 +114,7 @@ def main():
 
         job_manager.print_jobs_info()
 
-        video_enabled = hasattr(args_cli, "video") and args_cli.video
-        if video_enabled:
+        if args_cli.video:
             os.makedirs(args_cli.video_dir, exist_ok=True)
             print(f"[INFO] Video recording enabled. Videos will be saved to: {args_cli.video_dir}")
 
@@ -127,7 +122,7 @@ def main():
             if job is not None:
                 env = None
                 try:
-                    render_mode = "rgb_array" if video_enabled else None
+                    render_mode = "rgb_array" if args_cli.video else None
                     env = load_env(job.arena_env_args, job.name, render_mode=render_mode)
 
                     policy = get_policy_from_job(job)
@@ -140,12 +135,11 @@ def main():
                         else:
                             job.num_steps = args_cli.num_steps
 
-                    if video_enabled:
-                        video_length = args_cli.video_length
-                        if video_length is None:
-                            # Default to full run: use num_steps if known, otherwise a large
-                            # upper bound (recording stops when env.close() is called).
-                            video_length = job.num_steps if job.num_steps is not None else 10**7
+                    if args_cli.video:
+                        if job.num_steps is not None:
+                            video_length = job.num_steps
+                        else:
+                            video_length = job.num_episodes * env.unwrapped.max_episode_length
                         video_kwargs = {
                             "video_folder": os.path.join(args_cli.video_dir, job.name),
                             "step_trigger": lambda step: step == 0,
@@ -153,7 +147,7 @@ def main():
                             "disable_logger": True,
                         }
                         print(f"[INFO] Recording video for job '{job.name}' -> {video_kwargs['video_folder']}")
-                        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+                        env = RecordVideo(env, **video_kwargs)
 
                     metrics = rollout_policy(env, policy, num_steps=job.num_steps, num_episodes=job.num_episodes)
 
diff --git a/isaaclab_arena/evaluation/eval_runner_cli.py b/isaaclab_arena/evaluation/eval_runner_cli.py
index 5006aaee0..caaecf49c 100644
--- a/isaaclab_arena/evaluation/eval_runner_cli.py
+++ b/isaaclab_arena/evaluation/eval_runner_cli.py
@@ -15,15 +15,9 @@ def add_eval_runner_arguments(parser: argparse.ArgumentParser) -> None:
         help="Path to the eval jobs config file.",
     )
     parser.add_argument("--video", action="store_true", default=False, help="Record videos for each eval job.")
-    parser.add_argument(
-        "--video_length",
-        type=int,
-        default=None,
-        help="Max length of each recorded video (in steps). Defaults to full run length.",
-    )
     parser.add_argument(
         "--video_dir",
         type=str,
-        default="eval_videos",
+        default="/eval/videos",
         help="Root directory for recorded videos. Each job gets a subdirectory.",
     )

From 7fe4b83d5915ef9969e740f2f9deb74f7ce1f8c3 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 11:38:34 +0100
Subject: [PATCH 15/16] optionally continue on error

---
 isaaclab_arena/evaluation/eval_runner.py     | 3 ++-
 isaaclab_arena/evaluation/eval_runner_cli.py | 6 ++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/isaaclab_arena/evaluation/eval_runner.py b/isaaclab_arena/evaluation/eval_runner.py
index d3f3c294f..25be4d435 100644
--- a/isaaclab_arena/evaluation/eval_runner.py
+++ b/isaaclab_arena/evaluation/eval_runner.py
@@ -138,10 +138,11 @@ def main():
                         metrics_logger.append_job_metrics(job.name, metrics)
 
                 except Exception as e:
-                    # continue with the next job even if one fails
                     job_manager.complete_job(job, metrics={}, status=Status.FAILED)
                     print(f"Job {job.name} failed with error: {e}")
                     print(f"Traceback: {traceback.format_exc()}")
+                    if not args_cli.continue_on_error:
+                        raise
 
                 finally:
                     # Only stop env if it was successfully created
diff --git a/isaaclab_arena/evaluation/eval_runner_cli.py b/isaaclab_arena/evaluation/eval_runner_cli.py
index 74307da00..e013302e6 100644
--- a/isaaclab_arena/evaluation/eval_runner_cli.py
+++ b/isaaclab_arena/evaluation/eval_runner_cli.py
@@ -14,3 +14,9 @@ def add_eval_runner_arguments(parser: argparse.ArgumentParser) -> None:
         default="isaaclab_arena_environments/eval_jobs_configs/zero_action_jobs_config.json",
         help="Path to the eval jobs config file.",
     )
+    parser.add_argument(
+        "--continue_on_error",
+        action="store_true",
+        default=False,
+        help="Continue evaluation with remaining jobs when a job fails instead of stopping immediately.",
+    )

From fbd96b9f3edd1326826db96c7f75bf3d4c7a6c21 Mon Sep 17 00:00:00 2001
From: Clemens Volk <cvolk@nvidia.com>
Date: Fri, 27 Feb 2026 11:57:44 +0100
Subject: [PATCH 16/16] Add destination_location random around solution

---
 .../droid_pick_and_place_srl_environment.py      |  4 +++-
 .../droid_pnp_srl_openpi_jobs_config.json        | 16 ----------------
 2 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
index 1980c0fbd..9b0fed0e3 100644
--- a/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
+++ b/isaaclab_arena_environments/droid_pick_and_place_srl_environment.py
@@ -25,7 +25,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.assets.object_base import ObjectType
         from isaaclab_arena.assets.object_reference import ObjectReference
         from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
-        from isaaclab_arena.relations.relations import IsAnchor, On
+        from isaaclab_arena.relations.relations import AtPosition, IsAnchor, On, RandomAroundSolution
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
 
@@ -43,6 +43,8 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         pick_up_object.add_relation(On(table_reference))
         destination_location = self.asset_registry.get_asset_by_name(args_cli.destination_location)()
         destination_location.add_relation(On(table_reference))
+        destination_location.add_relation(AtPosition(x=0.5, y=0.0))
+        destination_location.add_relation(RandomAroundSolution(x_half_m=0.2, y_half_m=0.25))
 
         light = self.asset_registry.get_asset_by_name("light")(
             spawner_cfg=sim_utils.DomeLightCfg(intensity=500.0),
diff --git a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json
index 0833d3736..127b80244 100644
--- a/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json
+++ b/isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json
@@ -95,22 +95,6 @@
                 "remote_port": 8000
             }
         },
-        {
-            "name": "droid_pnp_srl_openpi_banana",
-            "arena_env_args": {
-                "enable_cameras": true,
-                "environment": "droid_pick_and_place_srl",
-                "embodiment": "droid_rel_joint_pos",
-                "pick_up_object": "banana_ycb_robolab",
-                "destination_location": "bowl_ycb_robolab"
-            },
-            "num_episodes": 3,
-            "policy_type": "isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient",
-            "policy_config_dict": {
-                "remote_host": "localhost",
-                "remote_port": 8000
-            }
-        },
         {
             "name": "droid_pnp_srl_openpi_tomato_sauce_can",
             "arena_env_args": {