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"visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": 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"isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/RoboLab/output/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, 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"use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["wooden_spoons"], "container": "wooden_bowl", "logical": "all", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"wooden_spoons": [["functools.partial(<function object_grabbed at 0x7ff3489427a0>, object='wooden_spoons')", 0.0], ["functools.partial(<function object_in_container at 0x7ff348942200>, object='wooden_spoons', container='wooden_bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "WoodSpatulaToBowlTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the wooden spatula in the bowl", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the wooden spatula in the bowl", "vague": "Put the wood utensil in the bowl", "specific": "Pick up the wooden spatula from the utensils box on the table and place it inside the wooden bowl in the center of the table"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3a05abce32ddb5bea5d66a799d93d65ae11e00
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 422, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 21, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.071m", "score": 0.0}, {"step": 27, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 38, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 38, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 422, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..332f9581f78a6329fa468281ccce4a5e9f12f808
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 1, "run": 0, "success": true, "final_step": 271, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.145m", "score": 0.0}, {"step": 24, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 34, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 34, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..086003e7c49a3d876c7236ac544edc2833bd033d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 12, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 35, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 51, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 51, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 65, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.055m", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.243m", "score": 0.0}, {"step": 372, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.093m", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 791, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 791, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 793, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 798, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 798, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dcfaa0ecf8b4b113f61bace0a8930b939babd59
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.148m", "score": 0.0}, {"step": 69, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.053m", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 512, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9538bdde5a4093a89075be9abc7e83cf840923f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.148m", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 286, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 544, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 546, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 571, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 588, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 589, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.192m", "score": 0.0}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 640, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}, {"step": 644, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.274m", "score": 1.0}, {"step": 645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.060m", "score": 1.0}, {"step": 645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.226m", "score": 1.0}, {"step": 714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 782, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.050m", "score": 1.0}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.100m", "score": 1.0}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.068m", "score": 1.0}, {"step": 831, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.086m", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8f765c94c64f01099507530ef38f4efe8d9538
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 12, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 33, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 239, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.119m", "score": 0.0}, {"step": 255, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.064m", "score": 0.0}, {"step": 326, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.064m", "score": 0.0}, {"step": 336, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.107m", "score": 0.0}, {"step": 387, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 550, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 609, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 682, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.091m", "score": 0.0}, {"step": 811, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 841, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.090m", "score": 0.0}, {"step": 869, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae83711bd5321a799fada6a03cb8f5f876c56cf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 12, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 78, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 401, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 574, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.052m", "score": 0.0}, {"step": 744, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 744, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 793, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 811, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.054m", "score": 0.0}, {"step": 815, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['wooden_spoons'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..28379349aef3a8d351846a62dfce4f52e221b165
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.148m", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.063m", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.108m", "score": 0.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.130m", "score": 0.0}, {"step": 613, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.078m", "score": 0.0}, {"step": 618, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.074m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..78aaf0cf8846a0c6e147e3740db42206d0587f11
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.151m", "score": 0.0}, {"step": 15, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.069m", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 388, 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diff --git a/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/WoodSpatulaToBowlTask/log_0_env9.json
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"name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": 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"/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube_middle__rubiks_cube_bottom": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube_middle", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube_bottom"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/RoboLab/output/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "banana"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7ff3489427a0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7ff348942200>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana": [["functools.partial(<function object_grabbed at 0x7ff3489427a0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7ff348942200>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "conjunction", "simple"], "_task_attributes": ["color", "conjunction", "simple"], "_task_name": "YellowAndWhiteObjectsInBinTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all white objects and yellow objects in the grey bin", "contact_object_list": ["mug", "banana", "grey_bin", "table", "bowl", "ketchup_bottle", "rubiks_cube_top", "rubiks_cube_middle", "rubiks_cube_bottom"], "_instruction_variants": {"default": "Put all white objects and yellow objects in the grey bin", "vague": "Clean up white and yellow objects", "specific": "Identify the white-colored and yellow-colored object on the table and place each one into the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa056a3d28f3408dc1642716f87b94263f4bc23f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 138, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.106m", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.077m", "score": 0.0}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.124m", "score": 0.0}, {"step": 400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 400, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 568, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 750, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 753, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 868, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..49270a476ff1d2a317eb01837bff98234948c65a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 1, "run": 0, "success": true, "final_step": 789, "events": [{"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 133, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.5}, {"step": 163, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.055m", "score": 0.5}, {"step": 166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.223m", "score": 0.5}, {"step": 166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.124m", "score": 0.5}, {"step": 224, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.225m", "score": 0.5}, {"step": 341, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.5}, {"step": 363, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.5}, {"step": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.060m", "score": 0.5}, {"step": 527, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 528, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.5}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 570, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.5}, {"step": 572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.232m", "score": 0.5}, {"step": 709, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 789, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce31b4f05b803a637029a0bddc91f76f27ece5d1
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 102, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 102, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 168, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 181, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.067m", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 311, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 518, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 567, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 570, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.234m", "score": 0.0}, {"step": 615, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 615, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 648, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 693, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.258m", "score": 0.0}, {"step": 774, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 777, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 789, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 799, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 802, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 812, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 829, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 831, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 834, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 843, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5740ae2e5b3b9a807d2d586fc81a934b04a27d9
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 48, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 102, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 190, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=banana, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for banana. All conditions satisfied for banana.", "score": 0.5}, {"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.5}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.219m", "score": 0.5}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.068m", "score": 0.5}, {"step": 330, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.5}, {"step": 420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.212m", "score": 0.5}, {"step": 429, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.116m", "score": 0.5}, {"step": 511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 511, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.221m", "score": 0.5}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 545, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.066m", "score": 0.5}, {"step": 689, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.5}, {"step": 719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 726, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 729, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.5}, {"step": 733, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.103m", "score": 0.5}, {"step": 770, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.5}, {"step": 821, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.5}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.442m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..adff56cedc992dbec6db66724f65ad69c5e0b247
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 110, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 130, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 133, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.061m", "score": 0.0}, {"step": 181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 183, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 375, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 401, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 408, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 428, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 432, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 483, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 489, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 489, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 595, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 596, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 654, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 655, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 677, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 680, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 754, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 755, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 756, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 853, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 854, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 855, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c2922c7ceabb925fc40b64abf0d688782f30263
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 76, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 76, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.312m", "score": 0.0}, {"step": 160, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.190m", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.201m", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.394m", "score": 0.0}, {"step": 468, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 480, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.161m", "score": 0.0}, {"step": 555, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb390136c4766f42b3d7708a731b0c9b868f19ef
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 143, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 232, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 246, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.098m", "score": 0.0}, {"step": 260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.240m", "score": 0.0}, {"step": 327, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 344, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 378, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 507, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.057m", "score": 0.0}, {"step": 659, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 737, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 763, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.301m", "score": 0.0}, {"step": 770, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.070m", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..49cc42bc066c3538091853c953a188f9725bb408
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 67, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 96, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.240m", "score": 0.0}, {"step": 167, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 172, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.054m", "score": 0.0}, {"step": 195, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.234m", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 282, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.219m", "score": 0.0}, {"step": 409, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 415, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 454, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.071m", "score": 0.0}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 519, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 524, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.393m", "score": 0.0}, {"step": 582, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 618, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.063m", "score": 0.0}, {"step": 623, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.143m", "score": 0.0}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 808, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..7142af97dce3ff7d28287421d9d40f8f0705be4c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 97, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 117, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.114m", "score": 0.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.200m", "score": 0.0}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 178, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.152m", "score": 0.0}, {"step": 240, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.080m", "score": 0.0}, {"step": 270, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.309m", "score": 0.0}, {"step": 433, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 465, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 570, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 575, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 599, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.158m", "score": 0.0}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 606, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.094m", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 759, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 800, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 807, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.446m", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 830, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.192m", "score": 0.0}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba9d1d115c2f40910a58fbb88061fdf8b904468
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 61, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 61, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 68, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 68, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 69, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.077m", "score": 0.0}, {"step": 150, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.080m", "score": 0.0}, {"step": 173, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.071m", "score": 0.0}, {"step": 176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.184m", "score": 0.0}, {"step": 278, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.205m", "score": 0.0}, {"step": 363, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 437, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.209m", "score": 0.0}, {"step": 543, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 562, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.328m", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 725, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 766, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.382m", "score": 0.0}, {"step": 767, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 792, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.282m", "score": 0.0}, {"step": 839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 858, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.131m", "score": 0.0}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 866, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.059m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/run_0.hdf5 b/2026-08-31_17-49-55_pi05/YellowAndWhiteObjectsInBinTask/run_0.hdf5
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/Put_the_small_red_yogurt_in_the_red_bowl_0_env0.mp4 b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/Put_the_small_red_yogurt_in_the_red_bowl_0_env0.mp4
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/Put_the_small_red_yogurt_in_the_red_bowl_0_env0_viewport.mp4 b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/Put_the_small_red_yogurt_in_the_red_bowl_0_env0_viewport.mp4
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"dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", 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"fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"body": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "yogurt_cup", "container": "bowl", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"yogurt_cup": [["functools.partial(<function object_grabbed at 0x7ff3489427a0>, object='yogurt_cup')", 0.0], ["functools.partial(<function object_in_container at 0x7ff348942200>, object='yogurt_cup', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "size", "simple"], "_task_attributes": ["color", "size", "simple"], "_task_name": "YogurtInBowlTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small red yogurt in the red bowl", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Put the small red yogurt in the red bowl", "vague": "Put the yogurt in the bowl", "specific": "Pick up the small red yogurt container and place it inside the red bowl"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..662447a2e7f93a4e1ddd2ef170db88b5b65079d6
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 164, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed11df2b444e682f0990d7182dbe05f3089d1074
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 240, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 511, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 527, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.146m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b7e0d6c49c7149c1eaaf1f24294fd5518d9102
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 136, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 302, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 330, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'apple_01' nudged 0.224m", "score": 0.0}, {"step": 454, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 527, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 545, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}, {"step": 548, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'apple_01' (target objects: ['yogurt_cup'])", "score": 0.0}, {"step": 555, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'apple_01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a5e4ead5c738a2d6b2b66e86038dd3df8c6bb07
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YogurtInBowlTask", "env_id": 3, "run": 0, "success": true, "final_step": 230, "events": [{"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 230, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab393fd2de960a7f780ccef906ae112b7ce6f47
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env4.json
@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env5.json
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index 0000000000000000000000000000000000000000..dbbf6c919d9bbe051ee079528b692a1d56fe55a8
--- /dev/null
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env6.json
new file mode 100644
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env7.json
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env8.json
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/log_0_env9.json
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diff --git a/2026-08-31_17-49-55_pi05/YogurtInBowlTask/run_0.hdf5 b/2026-08-31_17-49-55_pi05/YogurtInBowlTask/run_0.hdf5
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+{"env_name": "BowlInBinTask", "task_name": "BowlInBinTask", "run_name": "BowlInBinTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "put the bowl in the grey bin", "attributes": ["simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.945005247218049, "joint_sparc_mean": -8.956720443299384, "ee_isj": 831.9393696463754, "joint_isj": 28187.623143536628, "ee_path_length": 4.226399388141942, "joint_rmse_mean": 0.02574613576753959, "ee_speed_max": 0.3241444528102875, "ee_speed_mean": 0.06760139763355255}, "events": {"GRIPPER_FULLY_CLOSED": 4, "OBJECT_BUMPED": 5, "TARGET_OBJECT_DROPPED": 1, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 3, "wrong_objects_grabbed": ["mustard", "mustard", "mustard"]}, "instruction_type": "default", "timing": {"policy_inference_s": 61.199, "policy_inference_avg_ms": 68.0, "env_step_s": 268.635, "env_step_avg_ms": 298.5, "video_write_s": 31.745, "video_write_avg_ms": 35.3, "wall_total_s": 361.579, "it_per_sec": 2.49}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=bowl) (step 1/2)"}
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+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.835618912253381, "joint_sparc_mean": -8.142080554022831, "ee_isj": 166.30363873041188, "joint_isj": 4765.265939038651, "ee_path_length": 1.1058164181804981, "joint_rmse_mean": 0.018152324299023026, "ee_speed_max": 0.1965743899345398, "ee_speed_mean": 0.05139239504933357}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 1, "wrong_objects_grabbed": ["bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.985128182362908, "joint_sparc_mean": -8.173056006133686, "ee_isj": 120.61330839207949, "joint_isj": 12399.213370509813, "ee_path_length": 0.7491475351464887, "joint_rmse_mean": 0.017232909104580484, "ee_speed_max": 0.15916581451892853, "ee_speed_mean": 0.035698406398296356}, "events": {"GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 2, "OBJECT_BUMPED": 1, "GRIPPER_FULLY_CLOSED": 1, "wrong_objects_grabbed": ["bowl_2", "bowl_2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.807130705753851, "joint_sparc_mean": -8.6793058530099, "ee_isj": 198.57721355045436, "joint_isj": 4908.052265596932, "ee_path_length": 1.0998179992619592, "joint_rmse_mean": 0.022235715176397143, "ee_speed_max": 0.2895996868610382, "ee_speed_mean": 0.051027461886405945}, "events": {"GRIPPER_FULLY_CLOSED": 2, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 2, "wrong_objects_grabbed": ["bowl_1", "bowl_2", "bowl_2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": true, "episode_step": 196, "duration": 13.066666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.650130708695946, "joint_sparc_mean": -6.77923923619755, "ee_isj": 80.514340249914, "joint_isj": 11573.772361267986, "ee_path_length": 0.8323395760118286, "joint_rmse_mean": 0.02987556168008634, "ee_speed_max": 0.26219239830970764, "ee_speed_mean": 0.061382051557302475}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 1.0, "reason": "Completed subtask 'stack_bowl_left_on_right' 1/1"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.1148565837384865, "joint_sparc_mean": -8.16963237060469, "ee_isj": 125.75054977247544, "joint_isj": 5065.369908629624, "ee_path_length": 1.0433431765504584, "joint_rmse_mean": 0.0188212508160766, "ee_speed_max": 0.2134544849395752, "ee_speed_mean": 0.048310134559869766}, "events": {"GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["bowl_2", "bowl_2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.603676950438894, "joint_sparc_mean": -8.317314475045015, "ee_isj": 149.60089452775085, "joint_isj": 24442.125366488246, "ee_path_length": 1.0369497057638881, "joint_rmse_mean": 0.016874073242692026, "ee_speed_max": 0.16844695806503296, "ee_speed_mean": 0.04844343662261963}, "events": {"WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["bowl_1", "bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.306849408839419, "joint_sparc_mean": -7.967903540969395, "ee_isj": 310.29062107497634, "joint_isj": 7562.946048092092, "ee_path_length": 1.2052190614965468, "joint_rmse_mean": 0.022714269724452722, "ee_speed_max": 0.22566598653793335, "ee_speed_mean": 0.05680257827043533}, "events": {}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_2'], container=bowl_1, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": true, "episode_step": 257, "duration": 17.133333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.173556137860085, "joint_sparc_mean": -6.845023114479504, "ee_isj": 261.7182513821385, "joint_isj": 8006.164999166067, "ee_path_length": 1.0276395383237267, "joint_rmse_mean": 0.025833664148598827, "ee_speed_max": 0.25641438364982605, "ee_speed_mean": 0.058431997895240784}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 1.0, "reason": "Completed subtask 'stack_bowl_left_on_right' 1/1"}
+{"env_name": "BowlStackingLeftOnRightTask", "task_name": "BowlStackingLeftOnRightTask", "run_name": "BowlStackingLeftOnRightTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Stack the left bowl on the right bowl", "attributes": ["spatial", "simple"], "success": true, "episode_step": 199, "duration": 13.266666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.5377804856003072, "joint_sparc_mean": -6.091130305067371, "ee_isj": 113.52172626908771, "joint_isj": 7523.465315080794, "ee_path_length": 0.8445445678758946, "joint_rmse_mean": 0.02558271752066771, "ee_speed_max": 0.18796797096729279, "ee_speed_mean": 0.06550989300012589}, "events": {"GRIPPER_HIT_TABLE": 1, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["bowl_1", "bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 40.524, "policy_inference_avg_ms": 135.1, "env_step_s": 60.769, "env_step_avg_ms": 202.6, "video_write_s": 23.462, "video_write_avg_ms": 78.2, "wall_total_s": 124.755, "it_per_sec": 2.4}, "score": 1.0, "reason": "Completed subtask 'stack_bowl_left_on_right' 1/1"}
+{"env_name": "BowlStackingRightOnLeftTask", "task_name": "BowlStackingRightOnLeftTask", "run_name": "BowlStackingRightOnLeftTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Stack the right bowl on the left bowl", "attributes": ["spatial", "simple"], "success": false, "episode_step": 300, "duration": 20.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.99518997748223, "joint_sparc_mean": -7.172407124067825, "ee_isj": 124.91245849256997, "joint_isj": 6421.17239187626, "ee_path_length": 1.1292545051950178, "joint_rmse_mean": 0.03281721176466788, "ee_speed_max": 0.2824661433696747, "ee_speed_mean": 0.05338118225336075}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["bowl_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 33.711, "policy_inference_avg_ms": 112.4, "env_step_s": 67.98, "env_step_avg_ms": 226.6, "video_write_s": 20.249, "video_write_avg_ms": 67.5, "wall_total_s": 121.941, "it_per_sec": 2.46}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1)"}
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+{"env_name": "CleanUpToysTask", "task_name": "CleanUpToysTask", "run_name": "CleanUpToysTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Clean up all the smaller toys and leave the birdhouse on the table", "attributes": ["sorting", "semantics", "complex"], "success": false, "episode_step": 4500, "duration": 300.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.135701713134061, "joint_sparc_mean": -17.729505088999208, "ee_isj": 3660.3001782023675, "joint_isj": 104548.90862356868, "ee_path_length": 17.71509649632803, "joint_rmse_mean": 0.023231674545524432, "ee_speed_max": 0.28704991936683655, "ee_speed_mean": 0.055607497692108154}, "events": {"TARGET_OBJECT_DROPPED": 53, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 7}, "instruction_type": "default", "timing": {"policy_inference_s": 651.629, "policy_inference_avg_ms": 144.8, "env_step_s": 1770.993, "env_step_avg_ms": 393.6, "video_write_s": 276.928, "video_write_avg_ms": 61.5, "wall_total_s": 2699.55, "it_per_sec": 1.67}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=rubiks_cube) (step 1/2); object_grabbed(object=rubiks_cube_1) (step 1/2); object_grabbed(object=rubiks_cube_2) (step 1/2); object_grabbed(object=lizard_figurine) (step 1/2); object_grabbed(object=yellow_block) (step 1/2); object_grabbed(object=red_block) (step 1/2); object_grabbed(object=green_block) (step 1/2); object_grabbed(object=blue_block) (step 1/2); object_grabbed(object=lizard_figurine_01) (step 1/2)"}
+{"env_name": "CleanUpToysTask", "task_name": "CleanUpToysTask", "run_name": "CleanUpToysTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Clean up all the smaller toys and leave the birdhouse on the table", "attributes": ["sorting", "semantics", "complex"], "success": false, "episode_step": 4500, "duration": 300.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.707040864738808, "joint_sparc_mean": -19.82262407840478, "ee_isj": 3496.908605295407, "joint_isj": 114920.01268315711, "ee_path_length": 16.959846604163303, "joint_rmse_mean": 0.022076221542633317, "ee_speed_max": 0.31324881315231323, "ee_speed_mean": 0.05374520272016525}, "events": {"TARGET_OBJECT_DROPPED": 40, "GRIPPER_FULLY_CLOSED": 8, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 651.629, "policy_inference_avg_ms": 144.8, "env_step_s": 1770.993, "env_step_avg_ms": 393.6, "video_write_s": 276.928, "video_write_avg_ms": 61.5, "wall_total_s": 2699.55, "it_per_sec": 1.67}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=rubiks_cube) (step 1/2); object_grabbed(object=rubiks_cube_1) (step 1/2); object_grabbed(object=rubiks_cube_2) (step 1/2); object_grabbed(object=lizard_figurine) (step 1/2); object_grabbed(object=yellow_block) (step 1/2); object_grabbed(object=red_block) (step 1/2); object_grabbed(object=green_block) (step 1/2); object_grabbed(object=blue_block) (step 1/2); object_grabbed(object=lizard_figurine_01) (step 1/2)"}
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+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.46088044288708, "joint_sparc_mean": -11.646130342286321, "ee_isj": 314.91909032637744, "joint_isj": 6744.573859829539, "ee_path_length": 2.340799718498518, "joint_rmse_mean": 0.012984539515606523, "ee_speed_max": 0.21675141155719757, "ee_speed_mean": 0.03753812983632088}, "events": {"OBJECT_BUMPED": 2, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 17, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=pumpkinlarge) (step 1/2)"}
+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": true, "episode_step": 565, "duration": 37.666666666666664, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.44930332630266, "joint_sparc_mean": -11.487041330828456, "ee_isj": 194.2126200729113, "joint_isj": 4173.353261098242, "ee_path_length": 1.7281747445599498, "joint_rmse_mean": 0.014508895009049417, "ee_speed_max": 0.28215205669403076, "ee_speed_mean": 0.04280576482415199}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 12, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.7478319332773085, "joint_sparc_mean": -11.611330943129104, "ee_isj": 577.076530076412, "joint_isj": 10739.967024692807, "ee_path_length": 3.183413555978587, "joint_rmse_mean": 0.016303309849351875, "ee_speed_max": 0.30240729451179504, "ee_speed_mean": 0.05044637992978096}, "events": {"OBJECT_BUMPED": 3, "GRIPPER_HIT_OBJECT": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 2, "TARGET_OBJECT_DROPPED": 19}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=pumpkinlarge, container=right_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": true, "episode_step": 438, "duration": 29.2, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7497654236798814, "joint_sparc_mean": -7.030159245191001, "ee_isj": 230.9415355026407, "joint_isj": 7480.53151597033, "ee_path_length": 2.3827333975981526, "joint_rmse_mean": 0.01964388270546717, "ee_speed_max": 0.2515474259853363, "ee_speed_mean": 0.07866950333118439}, "events": {"OBJECT_BUMPED": 2, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_FULLY_CLOSED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.654173234001334, "joint_sparc_mean": -10.858289569079597, "ee_isj": 661.2154176766717, "joint_isj": 17184.527042270995, "ee_path_length": 3.7233151152980426, "joint_rmse_mean": 0.018522239188277393, "ee_speed_max": 0.30001047253608704, "ee_speed_mean": 0.059736307710409164}, "events": {"OBJECT_BUMPED": 4, "GRIPPER_HIT_OBJECT": 3, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 3, "wrong_objects_grabbed": ["orange_01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=pumpkinlarge) (step 1/2)"}
+{"env_name": "BigPumpkinInBinTask", "task_name": "BigPumpkinInBinTask", "run_name": "BigPumpkinInBinTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put the bigger pumpkin in the bin", "attributes": ["size", "simple"], "success": true, "episode_step": 805, "duration": 53.666666666666664, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.9640293837675395, "joint_sparc_mean": -10.908435543236616, "ee_isj": 448.9576174272043, "joint_isj": 9505.910536598129, "ee_path_length": 2.9927811153168706, "joint_rmse_mean": 0.018325556715970005, "ee_speed_max": 0.2520165741443634, "ee_speed_mean": 0.0529443621635437}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 4, "OBJECT_OUT_OF_SCENE": 1, "OBJECT_MOVED": 1, "TARGET_OBJECT_DROPPED": 10}, "instruction_type": "default", "timing": {"policy_inference_s": 105.856, "policy_inference_avg_ms": 117.6, "env_step_s": 528.079, "env_step_avg_ms": 586.8, "video_write_s": 51.541, "video_write_avg_ms": 57.3, "wall_total_s": 685.476, "it_per_sec": 1.31}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.907050487038237, "joint_sparc_mean": -15.422188226921227, "ee_isj": 3279.130890861679, "joint_isj": 65086.939958464674, "ee_path_length": 14.641023089747092, "joint_rmse_mean": 0.018345970736507393, "ee_speed_max": 0.31756776571273804, "ee_speed_mean": 0.057609133422374725}, "events": {"TARGET_OBJECT_DROPPED": 6, "WRONG_OBJECT_GRABBED": 9, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 9, "OBJECT_BUMPED": 4, "GRIPPER_HIT_TABLE": 9, "wrong_objects_grabbed": ["whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.329259508038403, "joint_sparc_mean": -19.80462443045663, "ee_isj": 3370.056819175831, "joint_isj": 61005.47039325909, "ee_path_length": 13.912625598169782, "joint_rmse_mean": 0.01928278279076758, "ee_speed_max": 0.3073170483112335, "ee_speed_mean": 0.054446808993816376}, "events": {"TARGET_OBJECT_DROPPED": 14, "GRIPPER_FULLY_CLOSED": 3, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.906553645987596, "joint_sparc_mean": -17.117831436070833, "ee_isj": 3413.839533555647, "joint_isj": 49086.6648180842, "ee_path_length": 15.156831649403653, "joint_rmse_mean": 0.017816797578838067, "ee_speed_max": 0.2600839138031006, "ee_speed_mean": 0.05955441668629646}, "events": {"TARGET_OBJECT_DROPPED": 6, "GRIPPER_FULLY_CLOSED": 7, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["whitepackerbottle_a01", "whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.663980088740265, "joint_sparc_mean": -18.670185593840728, "ee_isj": 3000.038827306319, "joint_isj": 42937.805913137534, "ee_path_length": 14.856445149413837, "joint_rmse_mean": 0.017125186111229908, "ee_speed_max": 0.2832629084587097, "ee_speed_mean": 0.05789760500192642}, "events": {"TARGET_OBJECT_DROPPED": 10, "WRONG_OBJECT_GRABBED": 6, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_TABLE": 1, "wrong_objects_grabbed": ["whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01", "whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.811507432852633, "joint_sparc_mean": -16.600680082144972, "ee_isj": 2960.0327404770933, "joint_isj": 73995.02007914099, "ee_path_length": 14.738361724507248, "joint_rmse_mean": 0.016877821189641068, "ee_speed_max": 0.26306775212287903, "ee_speed_mean": 0.057765696197748184}, "events": {"GRIPPER_FULLY_CLOSED": 7, "TARGET_OBJECT_DROPPED": 14, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 2, "wrong_objects_grabbed": ["whitepackerbottle_a01", "serving_bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.83555946693288, "joint_sparc_mean": -18.93142533145629, "ee_isj": 3396.397473888178, "joint_isj": 64769.463368613484, "ee_path_length": 15.025250775656254, "joint_rmse_mean": 0.0169889560905942, "ee_speed_max": 0.29338741302490234, "ee_speed_mean": 0.05939410254359245}, "events": {"TARGET_OBJECT_DROPPED": 10, "GRIPPER_FULLY_CLOSED": 8, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 5, "wrong_objects_grabbed": ["whitepackerbottle_a01", "whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.53262270093952, "joint_sparc_mean": -17.41375847847633, "ee_isj": 3337.369772534846, "joint_isj": 59287.65420908382, "ee_path_length": 15.204315618913071, "joint_rmse_mean": 0.018509347799456375, "ee_speed_max": 0.2521069645881653, "ee_speed_mean": 0.059507064521312714}, "events": {"TARGET_OBJECT_DROPPED": 14, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 12, "GRIPPER_HIT_TABLE": 4, "wrong_objects_grabbed": ["whitepackerbottle_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.200510627423284, "joint_sparc_mean": -20.225388926886293, "ee_isj": 3470.763660747689, "joint_isj": 68219.14574144993, "ee_path_length": 14.897789947282044, "joint_rmse_mean": 0.019032822630967866, "ee_speed_max": 0.28627896308898926, "ee_speed_mean": 0.05838983878493309}, "events": {"GRIPPER_FULLY_CLOSED": 7, "TARGET_OBJECT_DROPPED": 8, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
+{"env_name": "ClearOrganicObjectsTask", "task_name": "ClearOrganicObjectsTask", "run_name": "ClearOrganicObjectsTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Clear away the organic objects", "attributes": ["semantics", "complex"], "success": false, "episode_step": 3600, "duration": 240.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -14.521624528041691, "joint_sparc_mean": -20.083185532279543, "ee_isj": 3482.311514941922, "joint_isj": 128892.53553518333, "ee_path_length": 14.838281098870535, "joint_rmse_mean": 0.017148074206863755, "ee_speed_max": 0.35714343190193176, "ee_speed_mean": 0.0587308332324028}, "events": {"GRIPPER_FULLY_CLOSED": 8, "TARGET_OBJECT_DROPPED": 17, "GRIPPER_HIT_TABLE": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 524.56, "policy_inference_avg_ms": 145.7, "env_step_s": 2152.302, "env_step_avg_ms": 597.9, "video_write_s": 223.463, "video_write_avg_ms": 62.1, "wall_total_s": 2900.325, "it_per_sec": 1.24}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=lemon_01) (step 1/2); object_grabbed(object=lemon_02) (step 1/2); object_grabbed(object=lime01) (step 1/2); object_grabbed(object=lime01_01) (step 1/2); object_grabbed(object=orange_01) (step 1/2); object_grabbed(object=orange_02) (step 1/2); object_grabbed(object=pomegranate01) (step 1/2); object_grabbed(object=pumpkinlarge) (step 1/2); object_grabbed(object=pumpkinsmall) (step 1/2); object_grabbed(object=red_onion) (step 1/2); object_grabbed(object=avocado01) (step 1/2)"}
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+{"env_name": "ClutterPlasticTask", "task_name": "ClutterPlasticTask", "run_name": "ClutterPlasticTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put all plastic bottles away in the bin", "attributes": ["semantics", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.485504460553382, "joint_sparc_mean": -9.794424617976485, "ee_isj": 1950.2091304705712, "joint_isj": 231515.97669980663, "ee_path_length": 9.72537003056474, "joint_rmse_mean": 0.022681121844162856, "ee_speed_max": 0.461060494184494, "ee_speed_mean": 0.05442134663462639}, "events": {"OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 6, "TARGET_OBJECT_DROPPED": 12, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_MOVED": 1, "GRIPPER_HIT_TABLE": 2, "wrong_objects_grabbed": ["pumpkinsmall", "lemon_01", "lemon_02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 321.007, "policy_inference_avg_ms": 118.9, "env_step_s": 1618.478, "env_step_avg_ms": 599.4, "video_write_s": 139.926, "video_write_avg_ms": 51.8, "wall_total_s": 2079.411, "it_per_sec": 1.3}, "score": 0.6666666865348816, "reason": "Condition not satisfied: object_grabbed(object=milkjug_a01) (step 1/2)"}
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+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 842, "duration": 56.13333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.457610396617, "joint_sparc_mean": -10.749185926007033, "ee_isj": 440.6509324023016, "joint_isj": 19495.374237150183, "ee_path_length": 1.8497443637269946, "joint_rmse_mean": 0.01909331207233211, "ee_speed_max": 0.1978788524866104, "ee_speed_mean": 0.0329018272459507}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 5, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 297, "duration": 19.8, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.327236915011038, "joint_sparc_mean": -5.805151711305535, "ee_isj": 351.30682517369814, "joint_isj": 8993.936681169791, "ee_path_length": 1.628225623373178, "joint_rmse_mean": 0.025921889203088928, "ee_speed_max": 0.2506629228591919, "ee_speed_mean": 0.07661525160074234}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 4, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["clay_plates", "wooden_bowl", "wooden_bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_on_top(object=measuring_cups_1, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for measuring_cups_1. All conditions satisfied for measuring_cups_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 470, "duration": 31.333333333333332, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.879310538035812, "joint_sparc_mean": -6.007089544032312, "ee_isj": 245.19088917775292, "joint_isj": 9336.985795678354, "ee_path_length": 1.9412814779411478, "joint_rmse_mean": 0.02269490020932165, "ee_speed_max": 0.23752862215042114, "ee_speed_mean": 0.057640425860881805}, "events": {"GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 3, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.717858079155924, "joint_sparc_mean": -20.90452717894885, "ee_isj": 701.4065101346032, "joint_isj": 63964.41003586112, "ee_path_length": 2.887269926190689, "joint_rmse_mean": 0.014660589203425679, "ee_speed_max": 0.2817932665348053, "ee_speed_mean": 0.01732056774199009}, "events": {"GRIPPER_FULLY_CLOSED": 2, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=spoon_1) (step 1/2)"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 602, "duration": 40.13333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.800344757998996, "joint_sparc_mean": -9.672040995405116, "ee_isj": 496.75808904606686, "joint_isj": 18736.618492280257, "ee_path_length": 1.8716825366790237, "joint_rmse_mean": 0.024538646330619744, "ee_speed_max": 0.25817158818244934, "ee_speed_mean": 0.04623965546488762}, "events": {"GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 4, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["clay_plates"]}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 2000, "duration": 133.33333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -19.945346308711358, "joint_sparc_mean": -21.15453763023267, "ee_isj": 409.017635277193, "joint_isj": 35755.78763858341, "ee_path_length": 2.42864579817952, "joint_rmse_mean": 0.013638600534302967, "ee_speed_max": 0.28113624453544617, "ee_speed_mean": 0.018205726519227028}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 9, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["storage_box_01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -14.7688000479177, "joint_sparc_mean": -22.88440051658781, "ee_isj": 691.9984273792356, "joint_isj": 31638.46286496383, "ee_path_length": 4.665357306127378, "joint_rmse_mean": 0.013855820085931938, "ee_speed_max": 0.2249738574028015, "ee_speed_mean": 0.024717194959521294}, "events": {"TARGET_OBJECT_DROPPED": 39, "GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 13, "GRIPPER_HIT_OBJECT": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "clay_plates", "potato_masher"]}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=spoon_1) (step 1/2)"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -18.13155138598866, "joint_sparc_mean": -18.813102685857196, "ee_isj": 958.5339171039328, "joint_isj": 98058.64101251334, "ee_path_length": 3.5994624731719735, "joint_rmse_mean": 0.017907048398787172, "ee_speed_max": 0.35762539505958557, "ee_speed_mean": 0.020748065784573555}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 12, "GRIPPER_HIT_OBJECT": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=spoon_1) (step 1/2)"}
+{"env_name": "CookingClearPlateTask", "task_name": "CookingClearPlateTask", "run_name": "CookingClearPlateTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put the two measuring cups outside of the plate", "attributes": ["color", "sorting", "moderate"], "success": true, "episode_step": 1079, "duration": 71.93333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.354369301616345, "joint_sparc_mean": -11.290000850607552, "ee_isj": 422.5045070222834, "joint_isj": 20664.17983706993, "ee_path_length": 2.7452629412505907, "joint_rmse_mean": 0.017679570728697556, "ee_speed_max": 0.2678382694721222, "ee_speed_mean": 0.0372290201485157}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 8, "GRIPPER_HIT_OBJECT": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 236.883, "policy_inference_avg_ms": 87.7, "env_step_s": 1402.965, "env_step_avg_ms": 519.6, "video_write_s": 106.048, "video_write_avg_ms": 39.3, "wall_total_s": 1745.897, "it_per_sec": 1.55}, "score": 0.5, "reason": "success: object_grabbed(object=spoon_1). advanced 1 step(s) to step 1 for spoon_1."}
+{"env_name": "PickOrangeObjectTask", "task_name": "PickOrangeObjectTask", "run_name": "PickOrangeObjectTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Pick up the orange measuring cup", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.46357289229735, "joint_sparc_mean": -13.175083270574783, "ee_isj": 602.5859025649295, "joint_isj": 21367.916920653788, "ee_path_length": 3.3288074172965336, "joint_rmse_mean": 0.020617717060759905, "ee_speed_max": 0.21570391952991486, "ee_speed_mean": 0.0521535687148571}, "events": {"WRONG_OBJECT_GRABBED": 6, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_OBJECT": 3, "wrong_objects_grabbed": ["measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "clay_plates"]}, "instruction_type": "default", "timing": {"policy_inference_s": 121.311, "policy_inference_avg_ms": 134.8, "env_step_s": 425.872, "env_step_avg_ms": 473.2, "video_write_s": 59.203, "video_write_avg_ms": 65.8, "wall_total_s": 606.386, "it_per_sec": 1.48}, "score": 0.5, "reason": "Condition not satisfied: object_above(object=measuring_cups_1, reference_object=table, z_margin=0.05) (step 1/1)"}
+{"env_name": "PickOrangeObjectTask", "task_name": "PickOrangeObjectTask", "run_name": "PickOrangeObjectTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Pick up the orange measuring cup", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.981297565955786, "joint_sparc_mean": -11.840233573673473, "ee_isj": 665.2110429232375, "joint_isj": 21969.390444314435, "ee_path_length": 2.7016596093199112, "joint_rmse_mean": 0.019190094645091128, "ee_speed_max": 0.19325456023216248, "ee_speed_mean": 0.042990587651729584}, "events": {"WRONG_OBJECT_GRABBED": 14, "GRIPPER_FULLY_CLOSED": 7, "GRIPPER_HIT_OBJECT": 3, "wrong_objects_grabbed": ["measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1", "clay_plates", "clay_plates", "clay_plates", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 121.311, "policy_inference_avg_ms": 134.8, "env_step_s": 425.872, "env_step_avg_ms": 473.2, "video_write_s": 59.203, "video_write_avg_ms": 65.8, "wall_total_s": 606.386, "it_per_sec": 1.48}, "score": 0.5, "reason": "Condition not satisfied: object_above(object=measuring_cups_1, reference_object=table, z_margin=0.05) (step 1/1)"}
+{"env_name": "PickOrangeObjectTask", "task_name": "PickOrangeObjectTask", "run_name": "PickOrangeObjectTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Pick up the orange measuring cup", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.105394094463954, "joint_sparc_mean": -12.043136376712894, "ee_isj": 764.9560672212242, "joint_isj": 27681.046547933853, "ee_path_length": 3.013749681113484, "joint_rmse_mean": 0.021677539127506647, "ee_speed_max": 0.2965688407421112, "ee_speed_mean": 0.04758680611848831}, "events": {"GRIPPER_FULLY_CLOSED": 7, "WRONG_OBJECT_GRABBED": 7, "GRIPPER_HIT_OBJECT": 4, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 7, "wrong_objects_grabbed": ["measuring_cups_1", "clay_plates", "measuring_cups_1", "clay_plates", "measuring_cups_1", "measuring_cups_1", "measuring_cups_1"]}, "instruction_type": "default", "timing": {"policy_inference_s": 121.311, "policy_inference_avg_ms": 134.8, "env_step_s": 425.872, "env_step_avg_ms": 473.2, "video_write_s": 59.203, "video_write_avg_ms": 65.8, "wall_total_s": 606.386, "it_per_sec": 1.48}, "score": 0.5, "reason": "Condition not satisfied: object_above(object=measuring_cups_1, reference_object=table, z_margin=0.05) (step 1/1)"}
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+{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.568685101102844, "joint_sparc_mean": -9.476872443666169, "ee_isj": 574.1471464580477, "joint_isj": 7717.446450723479, "ee_path_length": 3.4143119854771347, "joint_rmse_mean": 0.0160873381203988, "ee_speed_max": 0.22522595524787903, "ee_speed_mean": 0.054532840847969055}, "events": {"OBJECT_BUMPED": 7, "GRIPPER_HIT_OBJECT": 3, "GRIPPER_FULLY_CLOSED": 4, "WRONG_OBJECT_GRABBED": 7, "wrong_objects_grabbed": ["pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinlarge", "redonion", "redonion", "redonion"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.463, "policy_inference_avg_ms": 146.1, "env_step_s": 464.932, "env_step_avg_ms": 516.6, "video_write_s": 65.496, "video_write_avg_ms": 72.8, "wall_total_s": 661.891, "it_per_sec": 1.36}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
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+{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.378084833115529, "joint_sparc_mean": -11.573029703402048, "ee_isj": 698.2724202422887, "joint_isj": 9184.22611432849, "ee_path_length": 3.724394823249013, "joint_rmse_mean": 0.019099098975655072, "ee_speed_max": 0.2789493203163147, "ee_speed_mean": 0.05965830758213997}, "events": {"OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 6, "GRIPPER_FULLY_CLOSED": 4, "GRIPPER_HIT_OBJECT": 3, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "redonion"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.463, "policy_inference_avg_ms": 146.1, "env_step_s": 464.932, "env_step_avg_ms": 516.6, "video_write_s": 65.496, "video_write_avg_ms": 72.8, "wall_total_s": 661.891, "it_per_sec": 1.36}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
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+{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.293200180922097, "joint_sparc_mean": -8.009227127382777, "ee_isj": 630.6331825431566, "joint_isj": 8824.528067590643, "ee_path_length": 3.783931863515405, "joint_rmse_mean": 0.01875529746184736, "ee_speed_max": 0.2651481628417969, "ee_speed_mean": 0.060464777052402496}, "events": {"OBJECT_BUMPED": 3, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 3, "GRIPPER_FULLY_CLOSED": 3, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinsmall", "pumpkinsmall"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.463, "policy_inference_avg_ms": 146.1, "env_step_s": 464.932, "env_step_avg_ms": 516.6, "video_write_s": 65.496, "video_write_avg_ms": 72.8, "wall_total_s": 661.891, "it_per_sec": 1.36}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.91746624321934, "joint_sparc_mean": -14.636246018089638, "ee_isj": 715.1765680896582, "joint_isj": 11666.30430844223, "ee_path_length": 2.8279912760292083, "joint_rmse_mean": 0.017895629857847147, "ee_speed_max": 0.42884793877601624, "ee_speed_mean": 0.04519157484173775}, "events": {"GRIPPER_FULLY_CLOSED": 5, "OBJECT_BUMPED": 5, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinlarge", "pumpkinlarge", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.463, "policy_inference_avg_ms": 146.1, "env_step_s": 464.932, "env_step_avg_ms": 516.6, "video_write_s": 65.496, "video_write_avg_ms": 72.8, "wall_total_s": 661.891, "it_per_sec": 1.36}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.005311446537236, "joint_sparc_mean": -13.740789969374164, "ee_isj": 653.2965829242081, "joint_isj": 113226.05777498099, "ee_path_length": 2.3461366293740635, "joint_rmse_mean": 0.021222510940086113, "ee_speed_max": 0.2872505187988281, "ee_speed_mean": 0.04017839580774307}, "events": {"OBJECT_BUMPED": 6, "TARGET_OBJECT_DROPPED": 19, "GRIPPER_FULLY_CLOSED": 4, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_OUT_OF_SCENE": 1, "OBJECT_MOVED": 1, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.43604230624552, "joint_sparc_mean": -18.659424275512084, "ee_isj": 1135.8178092436085, "joint_isj": 130531.95843993254, "ee_path_length": 3.4180369225313685, "joint_rmse_mean": 0.021150641218867477, "ee_speed_max": 0.45787423849105835, "ee_speed_mean": 0.054175905883312225}, "events": {"OBJECT_BUMPED": 6, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_OBJECT": 2, "TARGET_OBJECT_DROPPED": 13, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 212, "duration": 14.133333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7234041147429, "joint_sparc_mean": -5.385608836749399, "ee_isj": 113.61251061080854, "joint_isj": 1756.2013863729933, "ee_path_length": 1.0187369135861688, "joint_rmse_mean": 0.015007675076103639, "ee_speed_max": 0.21199877560138702, "ee_speed_mean": 0.06765320152044296}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 397, "duration": 26.466666666666665, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.7722310311115077, "joint_sparc_mean": -7.035245421989458, "ee_isj": 196.48022776053375, "joint_isj": 4191.921995347473, "ee_path_length": 1.9498172615779092, "joint_rmse_mean": 0.01842259727023776, "ee_speed_max": 0.24716274440288544, "ee_speed_mean": 0.06984074413776398}, "events": {"OBJECT_BUMPED": 3, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 2, "wrong_objects_grabbed": ["pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.893854730303297, "joint_sparc_mean": -9.647038488717087, "ee_isj": 509.0104374677836, "joint_isj": 11406.649801216827, "ee_path_length": 3.236454136827952, "joint_rmse_mean": 0.019828742852005914, "ee_speed_max": 0.23402400314807892, "ee_speed_mean": 0.050801314413547516}, "events": {"OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 8, "GRIPPER_HIT_OBJECT": 3, "GRIPPER_FULLY_CLOSED": 6, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 1, "wrong_objects_grabbed": ["pumpkinlarge", "redonion", "redonion", "redonion", "redonion", "wooden_bowl", "wooden_bowl", "wooden_bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_in_container(object=orange_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.113817460744256, "joint_sparc_mean": -12.82213668364983, "ee_isj": 469.7524010986379, "joint_isj": 37006.71968569372, "ee_path_length": 1.9799282642237876, "joint_rmse_mean": 0.0171425685448327, "ee_speed_max": 0.17780086398124695, "ee_speed_mean": 0.03198380023241043}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 20}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": true, "episode_step": 743, "duration": 49.53333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.868860775658776, "joint_sparc_mean": -9.333504206696063, "ee_isj": 356.5077388491934, "joint_isj": 28166.767523834813, "ee_path_length": 1.7406668914152539, "joint_rmse_mean": 0.01660170191806575, "ee_speed_max": 0.17041432857513428, "ee_speed_mean": 0.03446034714579582}, "events": {"OBJECT_BUMPED": 2, "TARGET_OBJECT_DROPPED": 10, "GRIPPER_FULLY_CLOSED": 1, "OBJECT_OUT_OF_SCENE": 2, "OBJECT_MOVED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.5382718117114, "joint_sparc_mean": -9.534974372428568, "ee_isj": 481.53695293153305, "joint_isj": 19347.467041726857, "ee_path_length": 1.576782122740939, "joint_rmse_mean": 0.01919108686917804, "ee_speed_max": 0.16417986154556274, "ee_speed_mean": 0.02629723586142063}, "events": {"OBJECT_BUMPED": 3, "TARGET_OBJECT_DROPPED": 11, "MULTIPLE_OBJECTS_GRABBED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.765560402103989, "joint_sparc_mean": -10.14998545349577, "ee_isj": 317.97528285986175, "joint_isj": 17513.345310489807, "ee_path_length": 2.0607324059536025, "joint_rmse_mean": 0.015788753494930093, "ee_speed_max": 0.16274303197860718, "ee_speed_mean": 0.03249591961503029}, "events": {"OBJECT_BUMPED": 3, "TARGET_OBJECT_DROPPED": 16, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 4, "MULTIPLE_OBJECTS_GRABBED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsMovingOrangeOrLimeTask", "task_name": "FruitsMovingOrangeOrLimeTask", "run_name": "FruitsMovingOrangeOrLimeTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Move an orange or a lime to the wood bowl", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.412069197695981, "joint_sparc_mean": -7.7751053306382945, "ee_isj": 469.90390937513484, "joint_isj": 43126.89635147096, "ee_path_length": 2.508357594212499, "joint_rmse_mean": 0.02144386112429374, "ee_speed_max": 0.24877014756202698, "ee_speed_mean": 0.040853101760149}, "events": {"OBJECT_BUMPED": 3, "GRIPPER_FULLY_CLOSED": 4, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 15, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 112.467, "policy_inference_avg_ms": 125.0, "env_step_s": 532.214, "env_step_avg_ms": 591.3, "video_write_s": 57.521, "video_write_avg_ms": 63.9, "wall_total_s": 702.202, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"}
+{"env_name": "FruitsOnionTask", "task_name": "FruitsOnionTask", "run_name": "FruitsOnionTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the onion in the wood bowl", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.744560945599339, "joint_sparc_mean": -7.610801413133929, "ee_isj": 615.3272038424757, "joint_isj": 10693.620393175366, "ee_path_length": 3.8201291918807576, "joint_rmse_mean": 0.01988129587675764, "ee_speed_max": 0.25269651412963867, "ee_speed_mean": 0.060344889760017395}, "events": {"OBJECT_BUMPED": 6, "WRONG_OBJECT_GRABBED": 6, "GRIPPER_HIT_OBJECT": 3, "GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 1, "wrong_objects_grabbed": ["pumpkinlarge", "wooden_bowl", "wooden_bowl", "wooden_bowl", "wooden_bowl", "wooden_bowl"]}, "instruction_type": "default", "timing": {"policy_inference_s": 101.75, "policy_inference_avg_ms": 113.1, "env_step_s": 508.388, "env_step_avg_ms": 564.9, "video_write_s": 53.41, "video_write_avg_ms": 59.3, "wall_total_s": 663.549, "it_per_sec": 1.36}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=redonion) (step 1/2)"}
+{"env_name": "FruitsOnionTask", "task_name": "FruitsOnionTask", "run_name": "FruitsOnionTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the onion in the wood bowl", "attributes": ["semantics", "simple"], "success": true, "episode_step": 200, "duration": 13.333333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.361777094228561, "joint_sparc_mean": -4.647826951979822, "ee_isj": 146.60230760385912, "joint_isj": 2213.1865080225534, "ee_path_length": 1.0551092152389718, "joint_rmse_mean": 0.02057066369697728, "ee_speed_max": 0.2734200954437256, "ee_speed_mean": 0.07308416068553925}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 101.75, "policy_inference_avg_ms": 113.1, "env_step_s": 508.388, "env_step_avg_ms": 564.9, "video_write_s": 53.41, "video_write_avg_ms": 59.3, "wall_total_s": 663.549, "it_per_sec": 1.36}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
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+{"env_name": "GrabABagelTask", "task_name": "GrabABagelTask", "run_name": "GrabABagelTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Grab a bagel", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.91272936688277, "joint_sparc_mean": -8.923671459203321, "ee_isj": 612.513690571077, "joint_isj": 52431.14249753891, "ee_path_length": 1.7279961871515974, "joint_rmse_mean": 0.030422210759577552, "ee_speed_max": 0.26889339089393616, "ee_speed_mean": 0.05536310747265816}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 65.74, "policy_inference_avg_ms": 146.1, "env_step_s": 270.962, "env_step_avg_ms": 602.1, "video_write_s": 40.319, "video_write_avg_ms": 89.6, "wall_total_s": 377.021, "it_per_sec": 1.19}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=bagel_02) (step 1/1)"}
+{"env_name": "GrabABagelTask", "task_name": "GrabABagelTask", "run_name": "GrabABagelTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Grab a bagel", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.4958650554129225, "joint_sparc_mean": -8.86304201916437, "ee_isj": 536.4958415273456, "joint_isj": 58211.16852503817, "ee_path_length": 1.8964064992990128, "joint_rmse_mean": 0.03630307196292647, "ee_speed_max": 0.3149164021015167, "ee_speed_mean": 0.06117038428783417}, "events": {"GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 65.74, "policy_inference_avg_ms": 146.1, "env_step_s": 270.962, "env_step_avg_ms": 602.1, "video_write_s": 40.319, "video_write_avg_ms": 89.6, "wall_total_s": 377.021, "it_per_sec": 1.19}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=bagel_02) (step 1/1)"}
+{"env_name": "GrabABagelTask", "task_name": "GrabABagelTask", "run_name": "GrabABagelTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Grab a bagel", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.06601053658168, "joint_sparc_mean": -7.989156210850185, "ee_isj": 472.2095296653199, "joint_isj": 53586.570621605635, "ee_path_length": 1.4674489454225723, "joint_rmse_mean": 0.03138824837985201, "ee_speed_max": 0.33652549982070923, "ee_speed_mean": 0.049740321934223175}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_TABLE": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 65.74, "policy_inference_avg_ms": 146.1, "env_step_s": 270.962, "env_step_avg_ms": 602.1, "video_write_s": 40.319, "video_write_avg_ms": 89.6, "wall_total_s": 377.021, "it_per_sec": 1.19}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=bagel_02) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": true, "episode_step": 374, "duration": 24.933333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.75637738665365, "joint_sparc_mean": -8.135158532442865, "ee_isj": 152.6311699528095, "joint_isj": 4907.381716683745, "ee_path_length": 1.3016388577394598, "joint_rmse_mean": 0.015180357916485957, "ee_speed_max": 0.14591391384601593, "ee_speed_mean": 0.04938070476055145}, "events": {"GRIPPER_HIT_OBJECT": 2, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 1, "wrong_objects_grabbed": ["orange2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "Wrong object that was grabbed is now detached: 'orange2'"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.894237773520918, "joint_sparc_mean": -5.925393228714571, "ee_isj": 263.5902528341927, "joint_isj": 2962.011647170496, "ee_path_length": 1.7880875326740349, "joint_rmse_mean": 0.014463684707319544, "ee_speed_max": 0.2241007685661316, "ee_speed_mean": 0.056053247302770615}, "events": {"GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.820028083173466, "joint_sparc_mean": -7.085777614784632, "ee_isj": 452.2729125767913, "joint_isj": 8415.861312452449, "ee_path_length": 2.0402233228294753, "joint_rmse_mean": 0.021489567504431015, "ee_speed_max": 0.26509639620780945, "ee_speed_mean": 0.06415998190641403}, "events": {"GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 2, "wrong_objects_grabbed": ["orange2", "orange2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.84764593043734, "joint_sparc_mean": -7.203945544798068, "ee_isj": 400.1938060816827, "joint_isj": 4680.040288963721, "ee_path_length": 1.8628904483939843, "joint_rmse_mean": 0.018970626525732566, "ee_speed_max": 0.2904033362865448, "ee_speed_mean": 0.05790218710899353}, "events": {"GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.893411234878662, "joint_sparc_mean": -7.009639211680118, "ee_isj": 407.50983132212707, "joint_isj": 5857.725652335192, "ee_path_length": 2.056054290788066, "joint_rmse_mean": 0.020698997673220802, "ee_speed_max": 0.21242587268352509, "ee_speed_mean": 0.06272964179515839}, "events": {}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.372563955154758, "joint_sparc_mean": -8.981131804283553, "ee_isj": 386.20028220197037, "joint_isj": 6848.076441302859, "ee_path_length": 1.9440344815404587, "joint_rmse_mean": 0.02030199924364275, "ee_speed_max": 0.19084860384464264, "ee_speed_mean": 0.06072789430618286}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.535737061529588, "joint_sparc_mean": -7.171478819030911, "ee_isj": 364.105420835754, "joint_isj": 5250.1942323020285, "ee_path_length": 1.8919843284773123, "joint_rmse_mean": 0.015761861369160222, "ee_speed_max": 0.21705877780914307, "ee_speed_mean": 0.058946456760168076}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["orange2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.220421596718381, "joint_sparc_mean": -5.752809164412142, "ee_isj": 318.4025758835037, "joint_isj": 4246.151252079757, "ee_path_length": 1.7470912739802278, "joint_rmse_mean": 0.0169463047845724, "ee_speed_max": 0.17498794198036194, "ee_speed_mean": 0.05491990968585014}, "events": {"GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.901161650827645, "joint_sparc_mean": -6.958424219703813, "ee_isj": 245.43833439307045, "joint_isj": 5353.502556608122, "ee_path_length": 1.7832802255091598, "joint_rmse_mean": 0.017287881959680073, "ee_speed_max": 0.20224735140800476, "ee_speed_mean": 0.05584808439016342}, "events": {}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GrabAFruitTask", "task_name": "GrabAFruitTask", "run_name": "GrabAFruitTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Pick up a fruit", "attributes": ["semantics", "simple"], "success": false, "episode_step": 450, "duration": 30.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.062476006512872, "joint_sparc_mean": -7.22669811772041, "ee_isj": 288.5149253221, "joint_isj": 4781.227073975739, "ee_path_length": 1.7133056564760136, "joint_rmse_mean": 0.017877268100463563, "ee_speed_max": 0.29356956481933594, "ee_speed_mean": 0.05289096385240555}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "wrong_objects_grabbed": ["orange2"]}, "instruction_type": "default", "timing": {"policy_inference_s": 64.314, "policy_inference_avg_ms": 142.9, "env_step_s": 261.177, "env_step_avg_ms": 580.4, "video_write_s": 39.812, "video_write_avg_ms": 88.5, "wall_total_s": 365.303, "it_per_sec": 1.23}, "score": 1.0, "reason": "No object completed. Best progress: object_grabbed(object=banana) (step 1/1)"}
+{"env_name": "GreenSpoonsInPotTask", "task_name": "GreenSpoonsInPotTask", "run_name": "GreenSpoonsInPotTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the green spoons in the pot", "attributes": ["reorientation", "color", "complex"], "success": true, "episode_step": 1007, "duration": 67.13333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.4654026846619805, "joint_sparc_mean": -10.252823533455153, "ee_isj": 500.02435006623756, "joint_isj": 27482.40432093487, "ee_path_length": 3.583059264817465, "joint_rmse_mean": 0.02215594735397876, "ee_speed_max": 0.24987468123435974, "ee_speed_mean": 0.050966423004865646}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 13, "GRIPPER_HIT_TABLE": 2, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["pink_spaghetti_spoon", "pink_spaghetti_spoon", "pink_spaghetti_spoon"]}, "instruction_type": "default", "timing": {"policy_inference_s": 370.581, "policy_inference_avg_ms": 137.3, "env_step_s": 1254.034, "env_step_avg_ms": 464.5, "video_write_s": 167.123, "video_write_avg_ms": 61.9, "wall_total_s": 1791.738, "it_per_sec": 1.51}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "GreenSpoonsInPotTask", "task_name": "GreenSpoonsInPotTask", "run_name": "GreenSpoonsInPotTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the green spoons in the pot", "attributes": ["reorientation", "color", "complex"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.29793930074375, "joint_sparc_mean": -12.929881969244686, "ee_isj": 1311.5854133495955, "joint_isj": 325214.1263258143, "ee_path_length": 7.034108123754317, "joint_rmse_mean": 0.02252678405988214, "ee_speed_max": 0.2680244743824005, "ee_speed_mean": 0.03835997357964516}, "events": {"GRIPPER_HIT_TABLE": 12, "GRIPPER_FULLY_CLOSED": 24, "TARGET_OBJECT_DROPPED": 13, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 4, "wrong_objects_grabbed": ["pink_spaghetti_spoon", "pink_spaghetti_spoon", "pink_spaghetti_spoon"]}, "instruction_type": "default", "timing": {"policy_inference_s": 370.581, "policy_inference_avg_ms": 137.3, "env_step_s": 1254.034, "env_step_avg_ms": 464.5, "video_write_s": 167.123, "video_write_avg_ms": 61.9, "wall_total_s": 1791.738, "it_per_sec": 1.51}, "score": 0.6666666865348816, "reason": "Condition not satisfied: object_grabbed(object=ladle_01) (step 1/2)"}
+{"env_name": "GreenSpoonsInPotTask", "task_name": "GreenSpoonsInPotTask", "run_name": "GreenSpoonsInPotTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the green spoons in the pot", "attributes": ["reorientation", "color", "complex"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.385934631937694, "joint_sparc_mean": -15.584873734582457, "ee_isj": 1218.8565814904655, "joint_isj": 166261.56907956037, "ee_path_length": 6.824494334266035, "joint_rmse_mean": 0.02069312590332926, "ee_speed_max": 0.28315469622612, "ee_speed_mean": 0.037459976971149445}, "events": {"GRIPPER_FULLY_CLOSED": 14, "TARGET_OBJECT_DROPPED": 24, "GRIPPER_HIT_TABLE": 29, "WRONG_OBJECT_GRABBED": 8, "GRIPPER_HIT_OBJECT": 3, "OBJECT_BUMPED": 3, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["red_serving_spoon", "red_serving_spoon", "red_serving_spoon", "red_serving_spoon", "plate_large", "pink_spaghetti_spoon", "pink_spaghetti_spoon", "pink_spaghetti_spoon"]}, "instruction_type": "default", "timing": {"policy_inference_s": 370.581, "policy_inference_avg_ms": 137.3, "env_step_s": 1254.034, "env_step_avg_ms": 464.5, "video_write_s": 167.123, "video_write_avg_ms": 61.9, "wall_total_s": 1791.738, "it_per_sec": 1.51}, "score": 0.6666666865348816, "reason": "Condition not satisfied: object_grabbed(object=ladle) (step 1/2)"}
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+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.7094438633951, "joint_sparc_mean": -15.839249082656986, "ee_isj": 1128.700995358569, "joint_isj": 14360.51685545421, "ee_path_length": 4.19254644898983, "joint_rmse_mean": 0.019275511767774273, "ee_speed_max": 0.3161894679069519, "ee_speed_mean": 0.06552015244960785}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.4812962176704945, "joint_sparc_mean": -12.70338427234611, "ee_isj": 1078.9411373132243, "joint_isj": 19942.829571340542, "ee_path_length": 4.494369675291107, "joint_rmse_mean": 0.02042283710305736, "ee_speed_max": 0.2850862741470337, "ee_speed_mean": 0.06972035020589828}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.567449048479791, "joint_sparc_mean": -10.081295839153075, "ee_isj": 798.9579166544681, "joint_isj": 16536.693743338958, "ee_path_length": 4.037741019228804, "joint_rmse_mean": 0.0221169788016625, "ee_speed_max": 0.23151922225952148, "ee_speed_mean": 0.06418631970882416}, "events": {"OBJECT_BUMPED": 4, "TARGET_OBJECT_DROPPED": 1, "WRONG_OBJECT_GRABBED": 6, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a02"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.462857802465672, "joint_sparc_mean": -10.296415171849835, "ee_isj": 1190.0644392208937, "joint_isj": 13816.772882846639, "ee_path_length": 4.297044525463545, "joint_rmse_mean": 0.0196971319492179, "ee_speed_max": 0.3638193905353546, "ee_speed_mean": 0.06781373172998428}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 3, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.030099524882518, "joint_sparc_mean": -9.403409412700537, "ee_isj": 1200.1380367750726, "joint_isj": 14593.046726774555, "ee_path_length": 4.2048750237729084, "joint_rmse_mean": 0.019350672067015223, "ee_speed_max": 0.28753459453582764, "ee_speed_mean": 0.06526261568069458}, "events": {}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.599656979385588, "joint_sparc_mean": -9.708294487976675, "ee_isj": 1438.2273254186239, "joint_isj": 20136.420286421344, "ee_path_length": 5.17409925503338, "joint_rmse_mean": 0.021457289914556688, "ee_speed_max": 0.3433852791786194, "ee_speed_mean": 0.08095423132181168}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_in_container(object=whitepackerbottle_a01, container=large_storage_rack, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.027106058719717, "joint_sparc_mean": -13.43240180494381, "ee_isj": 1310.5224779066116, "joint_isj": 22524.364263931937, "ee_path_length": 4.504466481982113, "joint_rmse_mean": 0.02340044480096509, "ee_speed_max": 0.6081115007400513, "ee_speed_mean": 0.07075387984514236}, "events": {"OBJECT_BUMPED": 3, "GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_in_container(object=whitepackerbottle_a01, container=large_storage_rack, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.319994057605838, "joint_sparc_mean": -10.200299748306152, "ee_isj": 1744.3797397056173, "joint_isj": 18085.740073619854, "ee_path_length": 5.08240242964865, "joint_rmse_mean": 0.02005977885063875, "ee_speed_max": 0.33040735125541687, "ee_speed_mean": 0.08013443648815155}, "events": {"WRONG_OBJECT_GRABBED": 2, "TARGET_OBJECT_DROPPED": 5, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.090957170710863, "joint_sparc_mean": -11.164297716531033, "ee_isj": 715.3765690926057, "joint_isj": 36730.24387177781, "ee_path_length": 3.3120327817879147, "joint_rmse_mean": 0.022482668307477163, "ee_speed_max": 0.2344776690006256, "ee_speed_mean": 0.05174117907881737}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 131.747, "policy_inference_avg_ms": 146.4, "env_step_s": 295.145, "env_step_avg_ms": 327.9, "video_write_s": 69.685, "video_write_avg_ms": 77.4, "wall_total_s": 496.577, "it_per_sec": 1.81}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.41080880471973, "joint_sparc_mean": -11.21741263842648, "ee_isj": 1338.064468669672, "joint_isj": 511237.9285163383, "ee_path_length": 1.5132993444187397, "joint_rmse_mean": 0.030896194277186432, "ee_speed_max": 0.23595719039440155, "ee_speed_mean": 0.04056917130947113}, "events": {"GRIPPER_HIT_TABLE": 24, "TARGET_OBJECT_DROPPED": 5, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.0403949399908, "joint_sparc_mean": -13.014771799569745, "ee_isj": 1198.3973559593667, "joint_isj": 412028.80631360994, "ee_path_length": 1.8332607874545672, "joint_rmse_mean": 0.03221410249555893, "ee_speed_max": 0.36754634976387024, "ee_speed_mean": 0.03562859445810318}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 9, "TARGET_OBJECT_DROPPED": 12}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.499300030513318, "joint_sparc_mean": -12.791675051507339, "ee_isj": 1087.3643743898076, "joint_isj": 351322.30208178074, "ee_path_length": 1.4898741575561303, "joint_rmse_mean": 0.028341280336993048, "ee_speed_max": 0.2555750608444214, "ee_speed_mean": 0.037590958178043365}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 14, "TARGET_OBJECT_DROPPED": 10}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.463839533657968, "joint_sparc_mean": -12.349692853726994, "ee_isj": 1685.8696709332235, "joint_isj": 263999.1256651825, "ee_path_length": 1.8199051099091554, "joint_rmse_mean": 0.030032145158089968, "ee_speed_max": 0.24001914262771606, "ee_speed_mean": 0.038691990077495575}, "events": {"GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 4, "GRIPPER_HIT_TABLE": 16, "WRONG_OBJECT_GRABBED": 1, "wrong_objects_grabbed": ["yogurt_cup"]}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.497550534903674, "joint_sparc_mean": -10.814518379881223, "ee_isj": 2245.7663662887107, "joint_isj": 325150.40689236997, "ee_path_length": 1.3716525597446478, "joint_rmse_mean": 0.029061021275288694, "ee_speed_max": 0.54143887758255, "ee_speed_mean": 0.0414091981947422}, "events": {"GRIPPER_HIT_TABLE": 22, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 3, "MULTIPLE_OBJECTS_GRABBED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.999259903804576, "joint_sparc_mean": -11.851163250609051, "ee_isj": 1752.3802935886251, "joint_isj": 517791.3758743754, "ee_path_length": 1.3473790994420196, "joint_rmse_mean": 0.031971570181112845, "ee_speed_max": 0.2625957429409027, "ee_speed_mean": 0.043587010353803635}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 14, "TARGET_OBJECT_DROPPED": 15}, "instruction_type": "default", "timing": {"policy_inference_s": 131.6, "policy_inference_avg_ms": 146.2, "env_step_s": 385.741, "env_step_avg_ms": 428.6, "video_write_s": 69.896, "video_write_avg_ms": 77.7, "wall_total_s": 587.237, "it_per_sec": 1.53}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
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+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.008100515539535, "joint_sparc_mean": -17.18375867046357, "ee_isj": 3304.337130419306, "joint_isj": 306330.53056112945, "ee_path_length": 13.229921525856843, "joint_rmse_mean": 0.032819651555203506, "ee_speed_max": 0.3526439368724823, "ee_speed_mean": 0.07138212770223618}, "events": {"GRIPPER_FULLY_CLOSED": 11, "TARGET_OBJECT_DROPPED": 16, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 2, "OBJECT_OUT_OF_SCENE": 1, "OBJECT_MOVED": 1, "wrong_objects_grabbed": ["wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.98840658175712, "joint_sparc_mean": -13.589704259962108, "ee_isj": 4130.584239245307, "joint_isj": 277615.00962588214, "ee_path_length": 8.871873023549792, "joint_rmse_mean": 0.027897367000561776, "ee_speed_max": 0.3796786963939667, "ee_speed_mean": 0.05797848850488663}, "events": {"GRIPPER_FULLY_CLOSED": 13, "TARGET_OBJECT_DROPPED": 13, "WRONG_OBJECT_GRABBED": 9, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 4, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.431557871397176, "joint_sparc_mean": -16.44669981707462, "ee_isj": 6568.936333889951, "joint_isj": 613009.9366846097, "ee_path_length": 6.930322897810737, "joint_rmse_mean": 0.04518285785581961, "ee_speed_max": 0.7761893272399902, "ee_speed_mean": 0.046245209872722626}, "events": {"GRIPPER_FULLY_CLOSED": 7, "OBJECT_BUMPED": 10, "TARGET_OBJECT_DROPPED": 10, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.228082902749516, "joint_sparc_mean": -20.344653135650137, "ee_isj": 3680.5191254442916, "joint_isj": 364158.6220452422, "ee_path_length": 6.239227606652574, "joint_rmse_mean": 0.020833959923800938, "ee_speed_max": 0.37241435050964355, "ee_speed_mean": 0.05038135498762131}, "events": {"GRIPPER_FULLY_CLOSED": 4, "TARGET_OBJECT_DROPPED": 3, "OBJECT_BUMPED": 2, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.408887375560262, "joint_sparc_mean": -25.770100360734286, "ee_isj": 1760.6609250249971, "joint_isj": 86997.26207286477, "ee_path_length": 6.035382615003352, "joint_rmse_mean": 0.017800740055309565, "ee_speed_max": 0.2375246286392212, "ee_speed_mean": 0.03559025749564171}, "events": {"GRIPPER_FULLY_CLOSED": 11, "TARGET_OBJECT_DROPPED": 4, "OBJECT_BUMPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -14.710126022474897, "joint_sparc_mean": -27.92092562556818, "ee_isj": 1696.642369859112, "joint_isj": 118353.08737441593, "ee_path_length": 6.192742888045839, "joint_rmse_mean": 0.019806198814138004, "ee_speed_max": 0.27492162585258484, "ee_speed_mean": 0.03580257669091225}, "events": {"GRIPPER_FULLY_CLOSED": 7, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.230724387804148, "joint_sparc_mean": -20.46028812467868, "ee_isj": 2347.3736924259674, "joint_isj": 69364.41308573178, "ee_path_length": 8.667322947070703, "joint_rmse_mean": 0.022547163853010196, "ee_speed_max": 0.3252507448196411, "ee_speed_mean": 0.04779713228344917}, "events": {"GRIPPER_FULLY_CLOSED": 14, "TARGET_OBJECT_DROPPED": 4, "OBJECT_BUMPED": 2, "OBJECT_OUT_OF_SCENE": 1, "OBJECT_MOVED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.239222831308148, "joint_sparc_mean": -11.774318373134362, "ee_isj": 3676.350569260784, "joint_isj": 362185.2113570266, "ee_path_length": 8.205408269727073, "joint_rmse_mean": 0.02789151342753934, "ee_speed_max": 0.3755982220172882, "ee_speed_mean": 0.05530046299099922}, "events": {"GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 11}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.277330895528834, "joint_sparc_mean": -14.543187571526191, "ee_isj": 4933.817725583, "joint_isj": 331983.56637080945, "ee_path_length": 13.276624134909053, "joint_rmse_mean": 0.04209382689668038, "ee_speed_max": 0.4099769592285156, "ee_speed_mean": 0.07369817793369293}, "events": {"TARGET_OBJECT_DROPPED": 8, "GRIPPER_FULLY_CLOSED": 15, "WRONG_OBJECT_GRABBED": 6, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_BUMPED": 3, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.079548533537318, "joint_sparc_mean": -17.497824381001756, "ee_isj": 1125.547064788199, "joint_isj": 25284.62939605225, "ee_path_length": 5.878971633691081, "joint_rmse_mean": 0.019782474387151878, "ee_speed_max": 0.282378613948822, "ee_speed_mean": 0.0326513946056366}, "events": {"TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 8}, "instruction_type": "default", "timing": {"policy_inference_s": 391.893, "policy_inference_avg_ms": 145.1, "env_step_s": 913.348, "env_step_avg_ms": 338.3, "video_write_s": 178.649, "video_write_avg_ms": 66.2, "wall_total_s": 1483.891, "it_per_sec": 1.82}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "RecycleCartonTask", "task_name": "RecycleCartonTask", "run_name": "RecycleCartonTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the recyclable cartons in the grey bin", "attributes": ["semantics", "vague", "simple"], "success": true, "episode_step": 841, "duration": 56.06666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.777177285314524, "joint_sparc_mean": -8.176133327455053, "ee_isj": 498.4564575819451, "joint_isj": 21381.928955126095, "ee_path_length": 3.4631142676666844, "joint_rmse_mean": 0.021295747546817588, "ee_speed_max": 0.24974113702774048, "ee_speed_mean": 0.05899149179458618}, "events": {"OBJECT_BUMPED": 2, "TARGET_OBJECT_DROPPED": 6, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 4, "wrong_objects_grabbed": ["mayonnaise_bottle"]}, "instruction_type": "default", "timing": {"policy_inference_s": 182.409, "policy_inference_avg_ms": 135.1, "env_step_s": 441.974, "env_step_avg_ms": 327.4, "video_write_s": 92.622, "video_write_avg_ms": 68.6, "wall_total_s": 717.005, "it_per_sec": 1.88}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "RecycleCartonTask", "task_name": "RecycleCartonTask", "run_name": "RecycleCartonTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the recyclable cartons in the grey bin", "attributes": ["semantics", "vague", "simple"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.55042463495408, "joint_sparc_mean": -13.666027909763212, "ee_isj": 998.8031626696891, "joint_isj": 39986.4915344529, "ee_path_length": 5.0189250327159645, "joint_rmse_mean": 0.019062438407115242, "ee_speed_max": 0.27198219299316406, "ee_speed_mean": 0.05323145538568497}, "events": {"OBJECT_BUMPED": 2, "TARGET_OBJECT_DROPPED": 14, "GRIPPER_FULLY_CLOSED": 9, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_HIT_TABLE": 4, "WRONG_OBJECT_GRABBED": 5, "wrong_objects_grabbed": ["mayonnaise_bottle", "mayonnaise_bottle", "mayonnaise_bottle", "mayonnaise_bottle", "mayonnaise_bottle"]}, "instruction_type": "default", "timing": {"policy_inference_s": 182.409, "policy_inference_avg_ms": 135.1, "env_step_s": 441.974, "env_step_avg_ms": 327.4, "video_write_s": 92.622, "video_write_avg_ms": 68.6, "wall_total_s": 717.005, "it_per_sec": 1.88}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=milk_carton) (step 1/2)"}
+{"env_name": "RecycleCartonTask", "task_name": "RecycleCartonTask", "run_name": "RecycleCartonTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the recyclable cartons in the grey bin", "attributes": ["semantics", "vague", "simple"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.410179964073541, "joint_sparc_mean": -14.61250285935146, "ee_isj": 1405.8674179642542, "joint_isj": 102228.63960683455, "ee_path_length": 5.613258013250597, "joint_rmse_mean": 0.02443873656224027, "ee_speed_max": 0.3558041453361511, "ee_speed_mean": 0.06338588148355484}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 8, "GRIPPER_FULLY_CLOSED": 4, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 182.409, "policy_inference_avg_ms": 135.1, "env_step_s": 441.974, "env_step_avg_ms": 327.4, "video_write_s": 92.622, "video_write_avg_ms": 68.6, "wall_total_s": 717.005, "it_per_sec": 1.88}, "score": 0.5, "reason": "Condition not satisfied: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "RecycleCartonTask", "task_name": "RecycleCartonTask", "run_name": "RecycleCartonTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put the recyclable cartons in the grey bin", "attributes": ["semantics", "vague", "simple"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.40666938484308, "joint_sparc_mean": -9.233256182921599, "ee_isj": 885.0877839578634, "joint_isj": 64759.29555827056, "ee_path_length": 5.518140571696147, "joint_rmse_mean": 0.022057924684230602, "ee_speed_max": 0.3178112804889679, "ee_speed_mean": 0.0591304749250412}, "events": {"OBJECT_BUMPED": 4, "TARGET_OBJECT_DROPPED": 14, "GRIPPER_FULLY_CLOSED": 5, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "wrong_objects_grabbed": ["mayonnaise_bottle"]}, "instruction_type": "default", "timing": {"policy_inference_s": 182.409, "policy_inference_avg_ms": 135.1, "env_step_s": 441.974, "env_step_avg_ms": 327.4, "video_write_s": 92.622, "video_write_avg_ms": 68.6, "wall_total_s": 717.005, "it_per_sec": 1.88}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=milk_carton) (step 1/2)"}
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+{"env_name": "RecycleCartonsVerticalCrateTask", "task_name": "RecycleCartonsVerticalCrateTask", "run_name": "RecycleCartonsVerticalCrateTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put the cartons that can be recycled in the vertical crate", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 1350, "duration": 90.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.787468211719797, "joint_sparc_mean": -11.826236497650722, "ee_isj": 1536.9795901354519, "joint_isj": 175887.78475015794, "ee_path_length": 5.493542420932288, "joint_rmse_mean": 0.022145314601343318, "ee_speed_max": 0.3982684016227722, "ee_speed_mean": 0.058124933391809464}, "events": {"OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 4, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 197.231, "policy_inference_avg_ms": 146.1, "env_step_s": 402.572, "env_step_avg_ms": 298.2, "video_write_s": 98.021, "video_write_avg_ms": 72.6, "wall_total_s": 697.824, "it_per_sec": 1.93}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=milk_carton) (step 1/2)"}
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