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+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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"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": 180, "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": ["cordless_drill", "spring_clamp"], "container": "right_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cordless_drill": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='cordless_drill')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='cordless_drill', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "spring_clamp": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='spring_clamp', container='right_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": ["semantics", "spatial", "sorting", "moderate"], "_task_attributes": ["semantics", "spatial", "sorting", "moderate"], "_task_name": "NonHammerToolsInRightBinTask", "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 non-hammer tools in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the non-hammer tools in the right bin", "vague": "Sort non-hammer tools to the right", "specific": "Pick up the cordless drill and the spring clamp and place both in the bin on the right side, leaving the hammers untouched"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8089d5293fe93c5e8f08de7a151b09f37cff721f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 127, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 347, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 372, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.054m", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 524, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "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=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=cordless_drill, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for cordless_drill. All conditions satisfied for cordless_drill.", "score": 0.5}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1098, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.5}, {"step": 1126, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.063m", "score": 0.5}, {"step": 1129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.242m", "score": 0.5}, {"step": 1145, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.064m", "score": 0.5}, {"step": 1147, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.5}, {"step": 1148, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1150, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.5}, {"step": 1151, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.088m", "score": 0.5}, {"step": 1165, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.5}, {"step": 1174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.152m", "score": 0.5}, {"step": 1246, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1326, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.123m", "score": 0.5}, {"step": 1359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1362, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.121m", "score": 0.5}, {"step": 1362, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.058m", "score": 0.5}, {"step": 1421, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1427, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1478, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1493, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.069m", "score": 0.5}, {"step": 1495, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.069m", "score": 0.5}, {"step": 1531, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1537, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1539, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1539, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1566, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1566, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1625, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1663, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 1685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1690, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 1712, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1769, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1783, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1790, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1901, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1904, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1923, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1943, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2142, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2144, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 2146, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 2155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 2309, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.168m", "score": 0.5}, {"step": 2310, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 2310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.174m", "score": 0.5}, {"step": 2404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2533, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2536, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 2550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2551, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 2628, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.5}, {"step": 2638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.5}, {"step": 2638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..0adcce1fe880d6a2c3a3da523e8450091ce2bfbf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 101, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 114, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 137, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 137, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.105m", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.101m", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.090m", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 312, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 314, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.098m", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 355, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 372, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.064m", "score": 0.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 398, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.193m", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 528, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 528, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 851, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 883, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 918, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 918, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 972, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 972, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 973, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1006, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 1010, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.204m", "score": 0.0}, {"step": 1262, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.091m", "score": 0.0}, {"step": 1285, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.099m", "score": 0.0}, {"step": 1335, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1437, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1454, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.368m", "score": 0.0}, {"step": 1519, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1530, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1540, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1540, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1571, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1604, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1604, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1692, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1870, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.064m", "score": 0.0}, {"step": 1922, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1953, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1953, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1979, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1979, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1979, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1988, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1990, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1990, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1997, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2008, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2035, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2035, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2036, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2165, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2215, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2215, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2359, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2410, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2611, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2640, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2640, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2648, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2651, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2651, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2660, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2660, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd51ae5a3e67213534a0f332193b1450c4c16d63
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 69, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 117, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.079m", "score": 0.0}, {"step": 119, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.068m", "score": 0.0}, {"step": 268, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.112m", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.160m", "score": 0.0}, {"step": 370, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.069m", "score": 0.0}, {"step": 430, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.096m", "score": 0.0}, {"step": 435, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 438, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.108m", "score": 0.0}, {"step": 498, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 553, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 684, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 684, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 720, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 721, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.109m", "score": 0.0}, {"step": 724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 731, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.186m", "score": 0.0}, {"step": 735, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1692, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1770, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.376m", "score": 0.0}, {"step": 1801, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.113m", "score": 0.0}, {"step": 1838, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1848, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.116m", "score": 0.0}, {"step": 1861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 1940, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1976, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2678, "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/NonHammerToolsInRightBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..db4c0d37b010286052d1354952775392f22961c2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.074m", "score": 0.0}, {"step": 117, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 119, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.066m", "score": 0.0}, {"step": 173, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 247, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.096m", "score": 0.0}, {"step": 272, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 274, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.090m", "score": 0.0}, {"step": 291, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 423, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 481, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 490, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 503, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.060m", "score": 0.0}, {"step": 513, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 525, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.083m", "score": 0.0}, {"step": 529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.121m", "score": 0.0}, {"step": 807, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 824, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 857, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.210m", "score": 0.0}, {"step": 860, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 866, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 877, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 879, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 883, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 884, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 932, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.066m", "score": 0.0}, {"step": 938, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 944, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.163m", "score": 0.0}, {"step": 1132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.071m", "score": 0.0}, {"step": 1183, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.071m", "score": 0.0}, {"step": 1234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1261, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1288, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.095m", "score": 0.0}, {"step": 1315, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.104m", "score": 0.0}, {"step": 1401, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1407, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1414, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1446, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1459, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1463, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1498, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.123m", "score": 0.0}, {"step": 1550, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1558, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.159m", "score": 0.0}, {"step": 1735, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1739, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1740, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1774, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.075m", "score": 0.0}, {"step": 1780, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1874, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1888, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1949, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1950, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1950, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1954, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1965, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2017, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2039, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2039, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2039, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2088, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2400, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2400, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2537, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2646, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2648, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2688, "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/NonHammerToolsInRightBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacb93166b804f114626eea62cb9d3018b9676a4
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 99, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 138, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.149m", "score": 0.0}, {"step": 347, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 373, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 410, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 484, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 600, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 614, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 635, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 654, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 696, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 731, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 759, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 766, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1036, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1210, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 1242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1246, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1248, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 1277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1469, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1471, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 1506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1589, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1591, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1719, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1726, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 1750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1830, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1940, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2593, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2620, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2620, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e206027bd51fae9ffdafd20b69dba0b748512977
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 87, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 87, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.085m", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.056m", "score": 0.0}, {"step": 197, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 381, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 438, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 498, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 514, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 526, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 551, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 829, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 830, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 843, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.158m", "score": 0.0}, {"step": 866, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 888, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 889, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 905, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.297m", "score": 0.0}, {"step": 1393, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1411, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 1414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.068m", "score": 0.0}, {"step": 1540, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1608, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1682, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1695, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1801, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1821, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 1826, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.114m", "score": 0.0}, {"step": 1907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2015, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2041, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.051m", "score": 0.0}, {"step": 2073, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2095, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.395m", "score": 0.0}, {"step": 2177, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.063m", "score": 0.0}, {"step": 2249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2298, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2379, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2418, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 2421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2529, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2543, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.062m", "score": 0.0}, {"step": 2557, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 2557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.074m", "score": 0.0}, {"step": 2558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2596, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2596, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2684, "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/NonHammerToolsInRightBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f633b06fdf39f61bc4dbb3f017287e77182ef5e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 122, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.059m", "score": 0.0}, {"step": 123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 282, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 310, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 400, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 468, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 470, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 673, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 675, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 712, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 730, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 757, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 764, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 766, "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": 854, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 876, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 879, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.051m", "score": 0.0}, {"step": 953, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 994, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1026, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1083, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1094, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1094, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1094, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 1133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1590, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1606, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.097m", "score": 0.0}, {"step": 1612, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.087m", "score": 0.0}, {"step": 1666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1811, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1830, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2005, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2005, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2562, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2562, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2563, "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/NonHammerToolsInRightBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..603906afcda5c8686a3e5dc22ae0a0978d42a181
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 125, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.136m", "score": 0.0}, {"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 142, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.177m", "score": 0.0}, {"step": 241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 242, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 283, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 351, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 379, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.077m", "score": 0.0}, {"step": 416, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.174m", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 763, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 772, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 787, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 796, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 810, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 886, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 887, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1047, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1064, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1064, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1759, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1768, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1792, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1800, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1800, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1831, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1831, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1902, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1916, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1922, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1970, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2004, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2009, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2010, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2011, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2027, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2028, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2037, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2065, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.108m", "score": 0.0}, {"step": 2067, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2068, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2071, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.102m", "score": 0.0}, {"step": 2130, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.061m", "score": 0.0}, {"step": 2158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2217, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2238, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2248, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2285, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2294, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2335, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.151m", "score": 0.0}, {"step": 2344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2455, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 2697, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 2699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9af6995d3ed7a1369fa19d18d2be12eed5c0e4
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 74, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 124, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 197, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 269, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 287, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 336, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 338, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 338, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 368, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.065m", "score": 0.0}, {"step": 441, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 458, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 459, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 484, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.059m", "score": 0.0}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.132m", "score": 0.0}, {"step": 517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 518, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.176m", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 647, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 647, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 654, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 663, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 664, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 690, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 721, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.109m", "score": 0.0}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 792, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 867, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 870, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 872, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 874, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 874, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 908, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.166m", "score": 0.0}, {"step": 916, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 924, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.147m", "score": 0.0}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1052, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1052, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1053, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1071, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1071, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1144, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1229, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1231, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1312, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.098m", "score": 0.0}, {"step": 1360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1367, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.069m", "score": 0.0}, {"step": 1463, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.056m", "score": 0.0}, {"step": 1531, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 1563, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.287m", "score": 0.0}, {"step": 1631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.316m", "score": 0.0}, {"step": 1648, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 1648, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1652, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.078m", "score": 0.0}, {"step": 1700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1920, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1920, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 1963, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1969, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2001, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2014, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2027, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2072, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2077, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}, {"step": 2521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cordless_drill). advanced 1 step(s) to step 1 for cordless_drill.", "score": 0.0}, {"step": 2612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cordless_drill). regressing to step 0 for cordless_drill.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ed24e6088204e351331c2077d4c8785e03007b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/NonHammerToolsInRightBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "NonHammerToolsInRightBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 3, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp', 'cordless_drill'])", "score": 0.0}, {"step": 116, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 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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/OneBottleInSquarePailTask", "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": 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"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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "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 any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3a506dec19838d7be6318f1275c57f0a9eb7f84
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 124, "events": [{"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_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/OneBottleInSquarePailTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..efc3271bbe8205c25eaa68d897db318877aacb18
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 1, "run": 0, "success": true, "final_step": 426, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 45, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 171, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 279, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 284, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 426, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 1.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 426, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 1.0}, {"step": 426, "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/OneBottleInSquarePailTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac3b3919b987a1a2e214a5bb000f0d5a587c595b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 2, "run": 0, "success": true, "final_step": 135, "events": [{"step": 96, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 1.0}, {"step": 135, "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/OneBottleInSquarePailTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26e334ccae23b9c7368154ce697ae8e2fc9de2f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 3, "run": 0, "success": true, "final_step": 241, "events": [{"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 148, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.064m", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 241, "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/OneBottleInSquarePailTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a003d18b9f63a2f4e9614ae927a339c50400f3
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 4, "run": 0, "success": true, "final_step": 251, "events": [{"step": 107, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 251, "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/OneBottleInSquarePailTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..673a2febb02eba10af126e0a2dffe64c81cbfea2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 5, "run": 0, "success": true, "final_step": 200, "events": [{"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 200, "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/OneBottleInSquarePailTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc08aac2dddd8a1546b0cfc5e497fdea738d01fa
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleInSquarePailTask/log_0_env6.json
@@ -0,0 +1 @@
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"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", 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"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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "large_storage_rack", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a01', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a02', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a03', container='large_storage_rack', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleOnShelfTask", "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 any white plastic bottle on the shelf", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put any white plastic bottle on the shelf", "vague": "Put a bottle on the shelf", "specific": "Pick up one of the three white plastic bottles and place it on the shelf"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b8ae4c3ec94db60717636a1d0310a8649b86da
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 22, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 40, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 299, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "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/OneBottleOnShelfTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3d97b8abdab2b02d22c22682f7b9c4450a5503
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 302, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 314, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 442, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 456, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 462, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..21a7381b6676ef1bfc6f7f3e293d452c42bb1182
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 35, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 528, "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/OneBottleOnShelfTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb20e1455a88d499491c974eef389a43613592e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleOnShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 27, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.059m", "score": 0.0}, {"step": 35, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 400, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 400, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 507, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 587, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 589, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 591, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.077m", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 720, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 755, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.153m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcce477eb9b33dd25f47e9efd6a3b59ae003575d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env4.json
@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env5.json
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diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env6.json
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diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env7.json
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diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env8.json
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diff --git a/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/OneBottleOnShelfTask/log_0_env9.json
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object_grabbed at 0x7f54ee7477e0>, object='remote_control')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='remote_control', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "PhoneOrRemoteInBinTask", "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 phone or the remote in the grey bin", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the phone or the remote in the grey bin", "vague": "Put the phone or the remote away", "specific": "Choose either the black phone or the remote control and it into the grey bin next to the keyboard"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3eb66d5215bd41d8ad05b83c4e707361e5cffd3
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 145, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 179, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 278, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 345, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 351, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 383, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 395, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 409, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 422, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 479, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 513, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 625, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 627, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 684, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 816, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 818, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 823, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 827, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 848, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 867, "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/PhoneOrRemoteInBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9b4c1cfafcd42f919708ae17608dc53412b04a9
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 146, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 195, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 422, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 422, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 460, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 681, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 751, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 788, "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/PhoneOrRemoteInBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b9a9a980254e798c5ea4041881ba6ef0cf9e44
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 93, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 143, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 173, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 309, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 349, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 486, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 487, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 542, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 664, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 697, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 720, "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": 894, "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/PhoneOrRemoteInBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ba3b434444836292ae9bc56f174316b304cd75
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 45, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 56, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 60, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 60, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 77, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 177, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['smartphone', 'remote_control'])", "score": 0.0}, {"step": 220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 330, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 356, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 386, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 394, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 601, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 627, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 647, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 686, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 724, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 792, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 818, "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/PhoneOrRemoteInBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ebadf67000a35a2ce2c03840719d249e05650c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 73, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 160, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 203, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 218, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 249, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 274, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 322, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 328, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 350, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 386, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 413, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 437, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 501, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 533, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 617, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 648, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 702, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 721, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 786, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 821, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 861, "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/PhoneOrRemoteInBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..506f25588cfd0b51e6c42dc79002e171dfe30c9b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 66, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 113, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 164, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 172, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 232, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 324, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 325, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 373, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 417, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 470, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 588, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 796, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 832, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 861, "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/PhoneOrRemoteInBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a5bcf2c125907a7f1e89476476e44bc4618ff6
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 61, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 206, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 234, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 265, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 287, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 318, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 337, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 549, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 561, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 592, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 621, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 635, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 739, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 751, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 806, "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": 862, "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/PhoneOrRemoteInBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e4be396729e832aa7d9fb214cc956903cabf11d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 49, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 56, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 61, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 61, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 65, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 77, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 120, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 174, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 300, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 370, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 387, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 448, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 486, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 534, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 560, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 702, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 718, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 810, "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/PhoneOrRemoteInBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..89158d79182d1420cdca93658da1ecefd2987064
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 52, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 69, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 157, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 172, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 191, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 293, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 374, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 402, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 405, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 405, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 461, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "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=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 515, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 583, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 645, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 717, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 730, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 844, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 844, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 862, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 880, "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/PhoneOrRemoteInBinTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18fbbe766d49214662309aa8ba6a3049e4170d1
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PhoneOrRemoteInBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PhoneOrRemoteInBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.0}, {"step": 82, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 109, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 142, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 147, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=remote_control). advanced 1 step(s) to step 1 for remote_control.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=remote_control). regressing to step 0 for remote_control.", "score": 0.0}, 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+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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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": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "cordless_drill", "surface": "table", "distance": 0.03}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='cordless_drill')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_drill"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "PickDrillTask", "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": "Pick up the cordless drill.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Pick up the cordless drill.", "vague": "Get the drill", "specific": "Pick up the orange cordless electric drill and lift it off the table"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab036fb979b986879b2a755c8d212fd38c76627c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f396608a718c7e8c3254ac1aac16c5ce4bb3c07
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 250, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 446, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 451, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 478, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 478, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 487, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 508, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 554, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 558, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03967ef700f6fb326f9fedb57cc3a98fede38bf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 2, "run": 0, "success": false, "final_step": 600, "events": [{"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 522, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 526, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 538, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.127m", "score": 1.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b24d883e181ac769c657dc87902912b9f07960a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 3, "run": 0, "success": false, "final_step": 600, "events": [{"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['conditions'])", "score": 0.0}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 553, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 568, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 570, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abbcd5563c5265baecef51510d2bd0c827e0e93
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 4, "run": 0, "success": false, "final_step": 600, "events": [{"step": 223, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['conditions'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..23243c8852ebd6527be59083a44731d019a0089d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 5, "run": 0, "success": false, "final_step": 600, "events": [{"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: [])", "score": 1.0}, {"step": 147, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 589, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e368b7cd36fdb2653ab9a644d8250b5eff877c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 6, "run": 0, "success": false, "final_step": 600, "events": [{"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.137m", "score": 0.0}, {"step": 159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 510, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['conditions'])", "score": 1.0}, {"step": 510, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 1.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_drill' 1/1", "score": 1.0}, {"step": 521, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 1.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..31013794c1cd79dbc3a61c9fb35acea430924303
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 7, "run": 0, "success": false, "final_step": 600, "events": [{"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..78dd0d82643a7bf1c761c165f97063af01e8cd09
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickDrillTask", "env_id": 8, "run": 0, "success": false, "final_step": 600, "events": [{"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 425, "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/PickDrillTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PickDrillTask/log_0_env9.json
new file mode 100644
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diff --git a/2026-08-31_17-49-55_pi05/PickGlassesTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PickGlassesTask/log_0_env0.json
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{"ee_pose": "base_link"}, "task_attributes": ["color", "simple"], "_task_attributes": ["color", "simple"], "_task_name": "PickOrangeObjectTask", "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": "Pick up the orange measuring cup", "contact_object_list": ["table", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box", "tomato_sauce_can", "measuring_cups_1", "pink_spaghetti_spoon", "spoon_1", "green_serving_spoon", "storage_box_01", "ladle", "wooden_bowl", "potato_masher"], "_instruction_variants": {"default": "Pick up the orange measuring cup", "vague": "Pick up orange-colored thing", "specific": "Identify and pick up the orange-colored object from the cooking area"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..925c1f5811e6a2585dae3339148ea2f30ae816ac
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 119, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 145, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 300, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 552, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 572, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 801, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 814, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 837, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e9b37aec4ce047eeb160998c3bf30d155a92a5
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 147, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 299, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 687, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 692, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 692, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 779, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 780, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 781, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 788, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 823, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 823, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 824, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 825, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 826, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 831, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 839, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 853, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca87ef62fb4f02792bfc9ee0704a80262fe1f65
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 254, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 255, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 353, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.067m", "score": 0.5}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 495, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 525, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 525, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.081m", "score": 0.5}, {"step": 563, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 578, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_1' nudged 0.070m", "score": 0.5}, {"step": 607, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.091m", "score": 0.5}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.056m", "score": 0.5}, {"step": 805, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.059m", "score": 0.5}, {"step": 806, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box_01'", "score": 0.5}, {"step": 865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_serving_spoon' nudged 0.060m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c0ccd44488941c88695707c2f266ac900496219
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 73, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 74, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 468, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 478, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 498, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 499, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 616, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 662, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 668, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 669, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 670, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 676, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 692, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 805, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.074m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01c9a51656b6ca558018c135229370efa374dc6
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 100, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 119, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 125, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 128, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 130, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.066m", "score": 0.5}, {"step": 164, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.070m", "score": 0.5}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 380, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.091m", "score": 0.5}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 535, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0036af1709cea76a5ebf98b0fd6bd85e87b9ba7e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickOrangeObjectTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cups_1'", "score": 0.5}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cups_1). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 224, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 323, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 332, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 364, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 368, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 368, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 368, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 372, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 399, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 584, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cups_1' nudged 0.080m", "score": 0.5}, {"step": 628, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_1' nudged 0.070m", "score": 0.5}, {"step": 635, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.5}, {"step": 661, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 662, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.5}, {"step": 663, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 672, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.5}, {"step": 674, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.137m", "score": 0.5}, {"step": 674, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.112m", "score": 0.5}, {"step": 675, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.235m", "score": 0.5}, {"step": 676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.228m", "score": 0.5}, {"step": 680, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.272m", "score": 0.5}, {"step": 685, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.113m", "score": 0.5}, {"step": 688, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.340m", "score": 0.5}, {"step": 688, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'potato_masher' nudged 0.075m", "score": 0.5}, {"step": 765, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 781, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 791, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 794, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}, {"step": 844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 846, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cups_1' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 851, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cups_1'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c76e1e7a0c94ee4ef5b8fd334d4537776522237
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickOrangeObjectTask/log_0_env6.json
@@ -0,0 +1 @@
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{"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": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "pitcher", "surface": "table", "distance": 0.05}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='pitcher')", 1.0]], "group2": [["functools.partial(<function object_above at 0x7f54ee726160>, object='pitcher', reference_object='table', z_margin=0.05)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_blue_object"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "affordance", "moderate"], "_task_attributes": ["color", "affordance", "moderate"], "_task_name": "PickUpBluePitcherTask", "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": "Pick up the large blue pitcher", "contact_object_list": ["plasticjerrican_a02", "plasticpail_a02", "pitcher", "table"], "_instruction_variants": {"default": "Pick up the large blue pitcher", "vague": "Pick up blue object", "specific": "Pick up the large blue pitcher on the table by the side handle and lift it off the table"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1202ed794cf2b9e6669da7126a75ae28b5e026
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 352, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 352, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 422, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bfb5844cd2c7f0be380eaf60ab4d3d091488f73
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 1, "run": 0, "success": false, "final_step": 450, "events": [{"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 117, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 168, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 173, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pitcher' nudged 0.259m", "score": 0.5}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df4d9b4bb9e59aae39ebe18a22e4d12b9f4e612
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 87, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 115, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 115, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 115, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 122, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 447, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..820e2883ce98728c5a1ba4ee59b5e2e39215e9eb
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 3, "run": 0, "success": false, "final_step": 450, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 108, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 243, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 299, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 311, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f91343371ae502cf7adc2ad52d305be91a9c0260
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 4, "run": 0, "success": false, "final_step": 450, "events": [{"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 116, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 125, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 315, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 405, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f6ffded82c14c777d9ddc632f8258ea1499428
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpBluePitcherTask", "env_id": 5, "run": 0, "success": false, "final_step": 450, "events": [{"step": 47, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 53, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pitcher'", "score": 0.5}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pitcher). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pitcher'", "score": 0.5}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pitcher' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb76dfa1672490eced487fb0d030acfff1104cc
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpBluePitcherTask/log_0_env6.json
@@ -0,0 +1 @@
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"opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "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/table"], "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/PickUpGreenObjectTask", "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", 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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": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_picked_up", "params": {"object": "frozen_vegetable_block", "surface": "table", "distance": 0.05}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='frozen_vegetable_block')", 1.0]], "group2": [["functools.partial(<function object_above at 0x7f54ee726160>, object='frozen_vegetable_block', reference_object='table', z_margin=0.05)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_green_object"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "simple"], "_task_attributes": ["color", "simple"], "_task_name": "PickUpGreenObjectTask", "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": "Pick up the green vegetable block", "contact_object_list": ["frozen_vegetable_block", "blackandbrassbowl_large", "screwtoppail_a01", "utilityjug_a02", "table"], "_instruction_variants": {"default": "Pick up the green vegetable block", "vague": "Pick up the green object", "specific": "Identify the green vegetable block on the table and lift it off the table"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3945d6090fb379a2fca762db7b00fe3d45db1753
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 136, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 449, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..97346dad0432d1fa56c84d3009ce929535912c17
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 1, "run": 0, "success": false, "final_step": 450, "events": [{"step": 141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 240, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 252, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 261, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 291, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 350, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 418, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 419, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}, {"step": 420, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'frozen_vegetable_block' (target objects: ['group2', 'group1'])", "score": 0.5}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'frozen_vegetable_block'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..846bc5daa7321e99021d02349961d59f3e3370d3
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 190, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f35632cc3b24c46621b5f4052fe2bfc4a4aa408
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PickUpGreenObjectTask", "env_id": 3, "run": 0, "success": false, "final_step": 450, "events": [{"step": 135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'frozen_vegetable_block'", "score": 0.5}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=frozen_vegetable_block). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.5}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 201, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 203, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 302, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 383, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 413, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c0fa9e785da35c2a8c1766c46a15c96f49913b6
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PickUpGreenObjectTask/log_0_env4.json
@@ -0,0 +1 @@
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"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": ["pink_spaghetti_spoon"], "container": "anza_medium", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pink_spaghetti_spoon": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='pink_spaghetti_spoon')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='pink_spaghetti_spoon', container='anza_medium', 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", "affordance", "moderate"], "_task_attributes": ["color", "affordance", "moderate"], "_task_name": "PinkSpoonInPotTask", "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 pink spaghetti spoon in the pot", "contact_object_list": ["table", "anza_medium", "ladle", "plate_large", "plate_small", "fork_big", "fork_small", "spatula_13", "spatula_14", "spatula_15", "pink_spaghetti_spoon", "ladle_01", "red_serving_spoon", "green_serving_spoon"], "_instruction_variants": {"default": "Put the pink spaghetti spoon in the pot", "vague": "Put the pink spoon in the pot", "specific": "Pick up the pink spaghetti serving spoon that's on the left plate and place it inside the pot 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/PinkSpoonInPotTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b007b3a1a0488850534d521f93ca793636aa3441
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 126, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 126, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.264m", "score": 0.0}, {"step": 483, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 561, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 563, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 565, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 567, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 580, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 584, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.065m", "score": 0.0}, {"step": 689, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 796, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 878, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 878, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 883, "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/PinkSpoonInPotTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be96f1751dd124c704715455c8593db6f2014d7
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 1, "run": 0, "success": true, "final_step": 856, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 140, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 140, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 143, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 145, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.296m", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 583, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 654, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 660, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 675, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 856, "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/PinkSpoonInPotTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c389cd529954b6cf086bae10d18996df9ccdbc
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 108, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 206, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.252m", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 665, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.130m", "score": 0.0}, {"step": 733, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 741, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.232m", "score": 0.0}, {"step": 844, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_large' nudged 0.051m", "score": 0.0}, {"step": 853, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21f86e0d6bfd86efec31956d16c821454554af2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "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=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 416, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 417, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 685, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 685, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 701, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.129m", "score": 0.0}, {"step": 760, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 766, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.075m", "score": 0.0}, {"step": 799, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 816, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 816, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 832, "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/PinkSpoonInPotTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc47b7c81de1a5e53c12264e1cea72219360fe09
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 3, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 160, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 162, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 163, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 166, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.314m", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 512, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 512, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 516, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 551, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 553, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 816, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.192m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..785ebcf839e3623f93e14504b92804c14c4c5c89
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 5, "run": 0, "success": true, "final_step": 350, "events": [{"step": 3, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 228, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle'", "score": 0.0}, {"step": 230, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 231, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle'", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.071m", "score": 0.0}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.097m", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 350, "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/PinkSpoonInPotTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b178f0456b2d22f39d4911826c6fbdc23f817243
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "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=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 338, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 405, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 862, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 871, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38f45bd3bdadafeda0dd406fc09828f8273afd2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 21, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.323m", "score": 0.0}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 183, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.093m", "score": 0.0}, {"step": 193, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 198, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.200m", "score": 0.0}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle' nudged 0.079m", "score": 0.0}, {"step": 361, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 883, "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/PinkSpoonInPotTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6bd32b140a1b78ebab8b1964e84003c29650c2f
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PinkSpoonInPotTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 86, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ladle_01' (target objects: ['pink_spaghetti_spoon'])", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ladle_01'", "score": 0.0}, {"step": 324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ladle_01'", "score": 0.0}, {"step": 327, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ladle_01' nudged 0.272m", "score": 0.0}, {"step": 490, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 735, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 760, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pink_spaghetti_spoon). advanced 1 step(s) to step 1 for pink_spaghetti_spoon.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pink_spaghetti_spoon). regressing to step 0 for pink_spaghetti_spoon.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a359205da31fa6e5d11f9fabc2b480e6bf66d8
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PinkSpoonInPotTask/log_0_env9.json
@@ -0,0 +1 @@
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"whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='whitepackerbottle_a03', container='squarepail_a01', 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", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "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 the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a36fdbcbea45fc7896b2c124cddab063e23de8
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 136, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 391, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.071m", "score": 0.3333333333333333}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 475, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.249m", "score": 0.3333333333333333}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 689, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 815, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 868, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 936, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 941, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1341, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.207m", "score": 0.6666666666666666}, {"step": 1344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2571, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bfd2c14511b30907959c367bf736012d7fba85c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 1, "run": 0, "success": true, "final_step": 1587, "events": [{"step": 39, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.052m", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 202, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 436, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1463, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1558, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1561, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1587, "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/PlasticBottlesInSquarePailTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a57ecec646b9967cc23584225511d2f68f9644
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.111m", "score": 0.3333333333333333}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.091m", "score": 0.3333333333333333}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 441, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 441, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 442, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 443, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 454, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.091m", "score": 0.3333333333333333}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 698, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.096m", "score": 0.3333333333333333}, {"step": 883, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 905, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.056m", "score": 0.3333333333333333}, {"step": 938, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 939, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 942, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 959, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 961, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 1043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1060, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.119m", "score": 0.3333333333333333}, {"step": 1143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.172m", "score": 0.3333333333333333}, {"step": 1266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.112m", "score": 0.3333333333333333}, {"step": 1362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 1519, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1534, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.140m", "score": 0.3333333333333333}, {"step": 1574, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 1575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.070m", "score": 0.3333333333333333}, {"step": 1598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.3333333333333333}, {"step": 1604, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.131m", "score": 0.3333333333333333}, {"step": 1896, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 1898, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 1901, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 1901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2148, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 2149, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 2158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 2176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.093m", "score": 0.3333333333333333}, {"step": 2227, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2238, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.801m", "score": 0.3333333333333333}, {"step": 2445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b168d1b520ecd3bc3dec4a2861be852aee198c54
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 3, "run": 0, "success": true, "final_step": 1601, "events": [{"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 224, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 225, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 392, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 392, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 925, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 931, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 931, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 932, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 933, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 933, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 983, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1083, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1083, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1158, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.308m", "score": 0.6666666666666666}, {"step": 1203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1220, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.159m", "score": 0.6666666666666666}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 1601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1601, "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/PlasticBottlesInSquarePailTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..598ca412653eb73f964ce25fd131d8e6dc522cba
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 113, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.3333333333333333}, {"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 123, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 756, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.224m", "score": 0.3333333333333333}, {"step": 1067, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1078, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1078, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1144, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1403, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2196, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 2206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.057m", "score": 0.6666666666666666}, {"step": 2459, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.069m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5eb2b2d25e22d570fbb948d4aeb84a944f4c57a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 102, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 128, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.061m", "score": 0.3333333333333333}, {"step": 166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.066m", "score": 0.3333333333333333}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.064m", "score": 0.3333333333333333}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.079m", "score": 0.3333333333333333}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.093m", "score": 0.3333333333333333}, {"step": 342, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.3333333333333333}, {"step": 1347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e690ec785a05a4a91bc3ed458dcfefb05994dcf4
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 132, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 159, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.109m", "score": 0.3333333333333333}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.3333333333333333}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.077m", "score": 0.3333333333333333}, {"step": 283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.091m", "score": 0.3333333333333333}, {"step": 396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.232m", "score": 0.3333333333333333}, {"step": 422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.201m", "score": 0.3333333333333333}, {"step": 469, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 615, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.160m", "score": 0.3333333333333333}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 742, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 773, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 775, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 775, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 788, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.154m", "score": 0.6666666666666666}, {"step": 888, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 892, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 986, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 989, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 990, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.057m", "score": 0.6666666666666666}, {"step": 1114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1133, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.071m", "score": 0.6666666666666666}, {"step": 1139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.413m", "score": 0.6666666666666666}, {"step": 1359, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.199m", "score": 0.6666666666666666}, {"step": 1379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1547, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.214m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d03c7f698404912a2bf7ff69de7d21506a3cee4
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 7, "run": 0, "success": true, "final_step": 1159, "events": [{"step": 85, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 300, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 797, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 915, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 915, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 948, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1022, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.6666666666666666}, {"step": 1048, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.092m", "score": 0.6666666666666666}, {"step": 1093, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1159, "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/PlasticBottlesInSquarePailTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..155e3470b9aa592d71018a9de926b471d5063bdf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 8, "run": 0, "success": true, "final_step": 2272, "events": [{"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.090m", "score": 0.0}, {"step": 112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 292, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "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=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 310, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 310, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 638, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 640, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 769, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1023, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1025, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1025, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.143m", "score": 0.0}, {"step": 1155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.082m", "score": 0.0}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1476, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1480, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 1872, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2018, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2027, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2029, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2034, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2058, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2062, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2065, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 2119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 2218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 2272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2272, "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/PlasticBottlesInSquarePailTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e14461a585157d1fbfee0c54f281c6cd6fedce5
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PlasticBottlesInSquarePailTask/log_0_env9.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env0.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env1.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env2.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env3.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env4.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env5.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env6.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env7.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env8.json
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diff --git a/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PutBowlOnShelfTopTask/log_0_env9.json
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"track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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, 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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}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "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/table"], "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": 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"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, 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"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": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["ceramic_mug", "mug"], "reference_object": "rack_l04", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"ceramic_mug": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='ceramic_mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='ceramic_mug', container='rack_l04', require_contact_with=False, require_gripper_detached=True)", 1.0]], "mug": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='mug', container='rack_l04', 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": ["affordance", "spatial", "counting", "moderate"], "_task_attributes": ["affordance", "spatial", "counting", "moderate"], "_task_name": "PutMugsOnShelfTask", "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 two mugs on the shelf", "contact_object_list": ["ceramic_mug", "mug", "rack_l04", "serving_bowl", "utilityjug_a01", "table"], "_instruction_variants": {"default": "Put the two mugs on the shelf", "vague": "Put the mugs on shelf", "specific": "Pick up the two mugs from the table and place them on the shelf in front of you"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..487623ee28c4c4f55cbf977917b4c45c1d20c48c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 61, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 62, "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": 121, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 124, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.313m", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 475, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.119m", "score": 0.0}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 790, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ceramic_mug, container=rack_l04, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 900, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 1404, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1952, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1990, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2669, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..91bd7e29545928b7f08c177de952c3e108b3228a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 75, "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": 140, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 147, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.458m", "score": 0.0}, {"step": 156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.094m", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 406, "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": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "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": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1718, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2537, "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/PutMugsOnShelfTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..467c823a5ba826a4106a7591a21bbc81b21d0560
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 43, "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": 50, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 50, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 62, "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": 63, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 63, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 64, "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": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 83, "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": 149, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 151, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.301m", "score": 0.0}, {"step": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 796, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 797, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 910, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 910, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 925, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 925, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 973, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 973, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1605, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 1624, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 1649, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.826m", "score": 0.0}, {"step": 1757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1812, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1919, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1920, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1920, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1966, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2086, "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": 2087, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2092, "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": 2218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2314, "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": 2315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2329, "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": 2333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..753f308d0d0c2ba17473e9421b4ca27517ffca8d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 60, "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": 116, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 121, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.380m", "score": 0.0}, {"step": 139, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.115m", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1091, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1491, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6286ef14754401f91f5b3926982b25d34702c449
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 46, "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": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 124, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 128, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.396m", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 948, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1660, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1680, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2627, "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/PutMugsOnShelfTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0e0340d6292d11445fb8d751a37df9876cf85c
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 47, "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": 55, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 115, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.424m", "score": 0.0}, {"step": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 734, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 797, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 818, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.729m", "score": 0.0}, {"step": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1086, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1086, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1567, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1618, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1639, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1729, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1778, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1778, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 1786, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.0}, {"step": 2097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2259, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 2260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.104m", "score": 0.0}, {"step": 2299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.0}, {"step": 2365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2552, "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/PutMugsOnShelfTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a41de2398173185451cf53e10e02a1159291ff
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 37, "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": 48, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 48, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 55, "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": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 58, "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": 61, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 61, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 63, "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": 67, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 67, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 71, "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": 74, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 74, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 76, "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": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 91, "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": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 97, "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": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 102, "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": 103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 104, "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": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 106, "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": 114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 122, "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": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 146, "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": 149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 150, "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": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 153, "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": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 155, "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": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 167, "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": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 170, "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": 179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 180, "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": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 201, "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": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 213, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 215, "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": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 218, "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": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 220, "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": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 222, "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": 223, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 223, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 226, "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": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "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": 289, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 294, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.259m", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.0}, {"step": 601, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 609, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.723m", "score": 0.0}, {"step": 1238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2694, "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/PutMugsOnShelfTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..703cf2e84ea87f1995f28a3eccc81ef6df86eea2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 64, "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": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 114, "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": 122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 123, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 137, "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": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 140, "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": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 153, "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": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 156, "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": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 194, "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": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 205, "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": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 255, "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": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 285, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 316, "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": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 318, "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": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 333, "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": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "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": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 398, "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": 399, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 399, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 413, "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": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 439, "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": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 455, "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": 456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 457, "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": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 458, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 495, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 499, "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": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 614, "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": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 646, "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": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 668, "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": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 692, "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": 693, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 693, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 694, "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": 710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 710, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 719, "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": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 725, "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": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 726, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 729, "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": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 735, "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": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 740, "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": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 744, "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": 747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 747, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 749, "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": 750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 752, "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": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 856, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 897, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 903, "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": 904, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 904, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 908, "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": 913, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 913, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 915, "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": 936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 946, "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": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 966, "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": 969, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1018, "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": 1021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1027, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1027, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1049, "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": 1080, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1080, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1090, "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": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1164, "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": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1191, "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": 1209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1240, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1240, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 1240, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1277, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1293, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1295, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: ['ceramic_mug', 'mug'])", "score": 0.0}, {"step": 1300, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 0.0}, {"step": 1343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.060m", "score": 0.0}, {"step": 1561, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 1573, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.758m", "score": 0.0}, {"step": 1829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1831, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1879, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.079m", "score": 0.0}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2649, "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/PutMugsOnShelfTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f23e29ac678c849b6446d8459b85b60c23b9b5a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 43, "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": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "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": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 234, "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": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 239, "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": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 288, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 332, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.699m", "score": 0.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "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": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 556, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 556, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 556, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.123m", "score": 0.0}, {"step": 778, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 788, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.801m", "score": 0.0}, {"step": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 871, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 974, "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": 975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1040, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1040, "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": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1196, "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": 1197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1332, "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": 1338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1339, "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": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1549, "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": 1551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1857, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1890, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2676, "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/PutMugsOnShelfTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b3869f1365490a3aec16728734421a0250f86f8
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutMugsOnShelfTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutMugsOnShelfTask", "env_id": 9, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 54, "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": 58, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 58, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 74, "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": 77, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 78, "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": 79, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 79, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 81, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 103, "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": 180, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 185, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.128m", "score": 0.0}, {"step": 525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 527, "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": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 656, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 986, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). 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\ No newline at end of file
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+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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"contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put two (2) mugs on the wire shelf", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Put two (2) mugs on the wire shelf", "vague": "Put the mugs on shelf", "specific": "Select two mugs from the right side of the table and place them on the wire shelf in front of you"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a0e0aaa4c5ae626b8436a02907cc00f00071bf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 511, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 852, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 894, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 894, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 894, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 899, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 925, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.180m", "score": 0.0}, {"step": 929, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.291m", "score": 0.0}, {"step": 929, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 930, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 931, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.913m", "score": 0.0}, {"step": 1071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1093, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1527, "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": 1529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1638, "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": 1653, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1659, "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": 1666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1724, "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": 1736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1740, "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": 1741, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1747, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1833, "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": 1834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1842, "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": 1846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1864, "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": 1885, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1967, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1967, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2254, "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": 2264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 2281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2281, "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": 2352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2352, "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/PutTwoMugsOnShelfTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0db32706712d3e0181b43754f58c74fb530b58
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 79, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 823, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 826, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 855, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1064, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1113, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1113, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 1262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1263, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1336, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1340, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2134, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2138, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2140, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.057m", "score": 0.0}, {"step": 2142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.055m", "score": 0.0}, {"step": 2160, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.059m", "score": 0.0}, {"step": 2160, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.058m", "score": 0.0}, {"step": 2364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 2413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2551, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2552, "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": 2671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2671, "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/PutTwoMugsOnShelfTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2707f69a62b96ca8d6b0e662a0754e193949d43
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.078m", "score": 0.0}, {"step": 152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.076m", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 359, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 359, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 364, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.093m", "score": 0.0}, {"step": 370, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.411m", "score": 0.0}, {"step": 374, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.406m", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 558, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.068m", "score": 0.0}, {"step": 1351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.065m", "score": 0.0}, {"step": 1351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.066m", "score": 0.0}, {"step": 1351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.071m", "score": 0.0}, {"step": 1351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.060m", "score": 0.0}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1981, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1981, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1989, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2040, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2056, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2056, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2303, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2303, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2309, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2459, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2614, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 2615, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 2678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..61cf087e04b8a410dbe39123a40b16c97a62494e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.053m", "score": 0.0}, {"step": 347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.052m", "score": 0.0}, {"step": 368, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1949, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2637, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..17da46e04bf352b34545479b0e3c2a09a8ead0c7
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1907, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1907, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1937, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1937, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1938, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2020, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2453, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.093m", "score": 0.0}, {"step": 2566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.408m", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..5828a2afaf06e446d15e042c47de9446c18c7656
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 926, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1984, "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/PutTwoMugsOnShelfTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee8591488fad3a83928a120054249545e995f8b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "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=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.200m", "score": 0.0}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.307m", "score": 0.0}, {"step": 411, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 415, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.892m", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1719, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1740, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2501, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2627, "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/PutTwoMugsOnShelfTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c6070af6cd0135dd0c0d0da0341fe54f98f031
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 268, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "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": 541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1095, "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": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1149, "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": 1198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1201, "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": 1218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1231, "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": 1237, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1237, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1243, "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": 1274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1275, "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": 1286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1287, "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": 1288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1289, "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": 1306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 1317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=wireshelving_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 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/PutTwoMugsOnShelfTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e98ee7a57670cb1bcfd857f2dbcaf93ec7b1bb3
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PutTwoMugsOnShelfTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 88, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 1128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 1166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1317, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1317, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 1317, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1355, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1408, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1478, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1478, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1630, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1633, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1634, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['ceramic_mug', 'mug_01', 'mug'])", "score": 0.0}, {"step": 1637, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 1718, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 1951, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1952, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ceramic_mug). advanced 1 step(s) to step 1 for ceramic_mug.", "score": 0.0}, {"step": 1997, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.064m", "score": 0.0}, {"step": 2009, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.314m", "score": 0.0}, {"step": 2013, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.266m", "score": 0.0}, {"step": 2062, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2062, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ceramic_mug). regressing to step 0 for ceramic_mug.", "score": 0.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug_01). advanced 1 step(s) to step 1 for mug_01.", "score": 0.0}, {"step": 2232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug_01). regressing to step 0 for mug_01.", "score": 0.0}, {"step": 2385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc3faff1bc03b7a1e5fa54d5b0771b63922eac88
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/PutTwoMugsOnShelfTask/log_0_env9.json
@@ -0,0 +1 @@
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"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 recyclable cartons in the grey bin", "contact_object_list": ["container_a01", "milk_carton", "orange_juice_carton", "alphabet_soup_can", "smartphone", "mayonnaise_bottle", "ketchup_bottle", "mug", "table"], "_instruction_variants": {"default": "Put the recyclable cartons in the grey bin", "vague": "Recycle the cartons", "specific": "Pick up the food cartons that can be recycled and place them into the grey bin 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/RecycleCartonTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7aa87d384e42ec36080d7a42797af30db3e865
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 0, "run": 0, "success": true, "final_step": 841, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 363, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 468, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 474, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.133m", "score": 0.5}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 597, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 841, "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/RecycleCartonTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a4eec92104d061f22460d38c97b1f7e82fb241
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 166, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 425, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 637, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 637, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 673, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 734, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 734, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 734, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 828, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 886, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 888, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 898, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 901, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 905, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 910, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 912, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.075m", "score": 0.5}, {"step": 1035, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1039, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1045, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1057, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1095, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1095, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be8259cac3805e8c8b0d86c0368fb18806aba42
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 634, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 754, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 754, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 932, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 932, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 934, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 989, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 990, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 990, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1013, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1051, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1051, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1059, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc49c835811a131366947031ae9fcf79d8e7dae
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.160m", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 637, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.055m", "score": 0.5}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 840, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.065m", "score": 0.5}, {"step": 958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1010, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1010, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1075, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1075, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1075, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb458cf5ce4589aad5e6f372c65a51bba343f51
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 281, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 602, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 615, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 615, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 619, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 620, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 805, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 806, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 807, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 869, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 873, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.108m", "score": 0.5}, {"step": 983, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1013, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1022, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1025, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.107m", "score": 0.5}, {"step": 1031, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'container_a01' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1031, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 1039, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'container_a01'", "score": 0.5}, {"step": 1171, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.061m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43c3ca528cd41f404928e75d69959cbcf45055e
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.0}, {"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.052m", "score": 0.0}, {"step": 280, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.133m", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 380, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milk_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milk_carton. All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 1050, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1050, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1065, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1067, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1093, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1109, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1112, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75ffe0520560a2d471e0f3729dfecb9eade4d09
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 129, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 498, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 515, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 541, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 645, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 648, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.157m", "score": 0.5}, {"step": 667, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.152m", "score": 0.5}, {"step": 771, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 949, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'smartphone' nudged 0.051m", "score": 0.5}, {"step": 957, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.154m", "score": 0.5}, {"step": 1147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1269, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'smartphone'", "score": 0.5}, {"step": 1287, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.5}, {"step": 1299, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1300, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}, {"step": 1333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.396m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d42515ac0285128c22091f89596e75d79d91f2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 7, "run": 0, "success": true, "final_step": 762, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 98, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 98, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 181, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 762, "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/RecycleCartonTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af4b7fd4dcddaed1085f25c7947773ed6beb669
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 136, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.063m", "score": 0.5}, {"step": 147, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.102m", "score": 0.5}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 446, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 487, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 506, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 532, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.169m", "score": 0.5}, {"step": 533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 538, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.155m", "score": 0.5}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 748, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 936, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 983, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 984, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1008, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.256m", "score": 0.5}, {"step": 1023, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.236m", "score": 0.5}, {"step": 1333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..312265f194dd12e92ba802f2b80936200ac02a96
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonTask", "env_id": 9, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "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": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target 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"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/RecycleCartonsOnBoxTask", "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": 90, "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": ["milk_carton", "orange_juice_carton"], "container": "cubebox_a02", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"milk_carton": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='milk_carton')", 0.0], ["functools.partial(<function object_on_top at 0x7f54ee746e80>, object='milk_carton', reference_object='cubebox_a02', require_gripper_detached=True)", 1.0]], "orange_juice_carton": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='orange_juice_carton')", 0.0], ["functools.partial(<function object_on_top at 0x7f54ee746e80>, object='orange_juice_carton', reference_object='cubebox_a02', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "RecycleCartonsOnBoxTask", "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 cartons that can be recycled on the box", "contact_object_list": ["cubebox_a02", "milk_carton", "orange_juice_carton", "alphabet_soup_can", "smartphone", "mayonnaise_bottle", "ketchup_bottle", "mug", "table"], "_instruction_variants": {"default": "Put the cartons that can be recycled on the box", "vague": "Put the carton recyclables on the box", "specific": "Identify the food cartons that can be recycled and put them on top of the brown square box."}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b056a54d81cbbb2145d6c77e3579fc04336f56d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 254, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 423, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.288m", "score": 0.0}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 506, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.248m", "score": 0.0}, {"step": 547, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.130m", "score": 0.0}, {"step": 1170, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.104m", "score": 0.0}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28a4ec633331a2c359c18a59dcd84f3f8dc47b6
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 157, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.156m", "score": 0.0}, {"step": 627, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.131m", "score": 0.0}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 972, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 1279, "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/RecycleCartonsOnBoxTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03ef171e489c36f1deccfbe4d5f5725f68e2778
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 608, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 930, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 942, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 971, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 974, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 976, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1069, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1095, "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/RecycleCartonsOnBoxTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2014f22ef1d33162382dc135ebd6992495b5e8e2
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 598, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 621, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 779, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 875, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.062m", "score": 0.0}, {"step": 1180, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7568d0acc03e52233ca36675ac3d2eced39f9755
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 14, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 541, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.0}, {"step": 572, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.240m", "score": 0.0}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.056m", "score": 0.0}, {"step": 602, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 607, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 792, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.218m", "score": 0.0}, {"step": 1099, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 1104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.0}, {"step": 1116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1170, "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/RecycleCartonsOnBoxTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a8a832f179b2a9efbdeda72adde89813aba132
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 317, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.067m", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 976, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 976, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1079, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1088, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a447c56ec150d33c5adb7f9b429dc799825a031
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsOnBoxTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cubebox_a02'", "score": 0.0}, {"step": 352, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cubebox_a02' nudged 0.106m", "score": 0.0}, {"step": 671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 922, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 958, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 966, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 966, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1007, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1189, "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/RecycleCartonsOnBoxTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47c618d8903809199fb4af6670ce4de63e8a79b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env7.json
@@ -0,0 +1 @@
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diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/RecycleCartonsOnBoxTask/log_0_env8.json
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"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/RecycleCartonsVerticalCrateTask", "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"}, 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"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": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_inside", "params": {"object": ["milk_carton", "orange_juice_carton"], "container": "container_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"milk_carton": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='milk_carton')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='milk_carton', container='container_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "orange_juice_carton": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='orange_juice_carton')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='orange_juice_carton', container='container_a01', 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", "spatial", "moderate"], "_task_attributes": ["semantics", "spatial", "moderate"], "_task_name": "RecycleCartonsVerticalCrateTask", "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 cartons that can be recycled in the vertical crate", "contact_object_list": ["container_a01", "milk_carton", "orange_juice_carton", "alphabet_soup_can", "smartphone", "mayonnaise_bottle", "ketchup_bottle", "mug", "table"], "_instruction_variants": {"default": "Put the cartons that can be recycled in the vertical crate", "vague": "Recycle the cartons in the crate", "specific": "Pick up the food cartons that can be recycled and place them into the vertical crate 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/RecycleCartonsVerticalCrateTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a77130f46b145e08772ccdf717aa8bc08dd1cf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 240, "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": 295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.096m", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 633, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 672, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 720, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.283m", "score": 0.0}, {"step": 722, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.0}, {"step": 727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.088m", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 908, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 908, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 982, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 992, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 992, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1012, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1023, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1023, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1037, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 1038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 1098, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1098, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 1103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 1192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.051m", "score": 0.0}, {"step": 1202, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1204, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 1204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.114m", "score": 0.0}, {"step": 1215, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mayonnaise_bottle'", "score": 0.0}, {"step": 1216, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mayonnaise_bottle' displaced 0.906m", "score": 0.0}, {"step": 1216, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'container_a01'", "score": 0.0}, {"step": 1221, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'container_a01' displaced 0.772m", "score": 0.0}, {"step": 1275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 1298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.094m", "score": 0.0}, {"step": 1321, "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/RecycleCartonsVerticalCrateTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..687c4c503cf4e2fe0409c2ecbc725aad5c11ec0d
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 347, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 362, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 414, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 422, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 423, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 425, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 629, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 779, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 779, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.0}, {"step": 879, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.0}, {"step": 940, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 966, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1000, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1004, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.0}, {"step": 1011, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.328m", "score": 0.0}, {"step": 1088, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.093m", "score": 0.0}, {"step": 1110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.145m", "score": 0.0}, {"step": 1112, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.118m", "score": 0.0}, {"step": 1114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1131, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.153m", "score": 0.0}, {"step": 1134, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.149m", "score": 0.0}, {"step": 1218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.0}, {"step": 1294, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 1294, "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/RecycleCartonsVerticalCrateTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd4024495d8076d54d298ec83fbc924e9d755b5b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 670, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 687, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 766, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 769, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 826, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 826, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 930, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 932, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 932, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 981, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.067m", "score": 0.5}, {"step": 1170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.5}, {"step": 1212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.054m", "score": 0.5}, {"step": 1336, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1349, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'alphabet_soup_can'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf638616592cbad41e942eae8423b696000d6ed
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "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=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 454, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 511, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 516, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 566, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 566, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.5}, {"step": 584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}, {"step": 591, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.106m", "score": 0.5}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 788, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 806, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.079m", "score": 0.5}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 962, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1128, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1300, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1300, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ffe9d03fe62fa047e6f4d531dbf99b7ca9567d1
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 282, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 642, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 797, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 873, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 913, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 942, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.162m", "score": 0.5}, {"step": 943, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 962, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 994, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 995, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1002, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mayonnaise_bottle' nudged 0.098m", "score": 0.5}, {"step": 1050, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1115, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.090m", "score": 0.5}, {"step": 1120, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.099m", "score": 0.5}, {"step": 1136, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1336, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'smartphone'", "score": 0.5}, {"step": 1336, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8baa0c2912cce08f998a4c5807b1c4f62b241afc
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 84, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 241, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 635, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.053m", "score": 0.5}, {"step": 1104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1111, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1259, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1259, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3b73e5c664ef0e5c6760dfee72c99aee303dcf
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 188, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 188, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 199, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.098m", "score": 0.5}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 614, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'alphabet_soup_can'", "score": 0.5}, {"step": 653, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.226m", "score": 0.5}, {"step": 680, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.146m", "score": 0.5}, {"step": 1069, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'alphabet_soup_can' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1070, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'container_a01' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1070, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}, {"step": 1071, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'container_a01'", "score": 0.5}, {"step": 1071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1072, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'container_a01' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1080, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'container_a01'", "score": 0.5}, {"step": 1235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.052m", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..a919d022ec767af54dc4cc97e8c1208516d69a6b
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 255, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 283, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.103m", "score": 0.5}, {"step": 294, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 499, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.051m", "score": 0.5}, {"step": 591, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'smartphone'", "score": 0.5}, {"step": 607, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.5}, {"step": 616, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 617, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}, {"step": 619, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 621, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}, {"step": 625, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}, {"step": 642, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.069m", "score": 0.5}, {"step": 788, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mayonnaise_bottle'", "score": 0.5}, {"step": 834, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 936, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 938, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 939, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 944, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1076, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1081, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1082, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 1306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1307, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1311, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mayonnaise_bottle' (target objects: ['orange_juice_carton', 'milk_carton'])", "score": 0.5}, {"step": 1324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mayonnaise_bottle'", "score": 0.5}, {"step": 1325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..de225938a7d271ab87690e1697c8cff2802ea716
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RecycleCartonsVerticalCrateTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_juice_carton). regressing to step 0 for orange_juice_carton.", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_juice_carton). advanced 1 step(s) to step 1 for orange_juice_carton.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 256, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=orange_juice_carton, container=container_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_juice_carton. All conditions satisfied for orange_juice_carton.", "score": 0.5}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 285, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milk_carton). advanced 1 step(s) to step 1 for milk_carton.", "score": 0.5}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milk_carton). regressing to step 0 for milk_carton.", "score": 0.5}, {"step": 712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1008, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'container_a01'", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env9.json b/2026-08-31_17-49-55_pi05/RecycleCartonsVerticalCrateTask/log_0_env9.json
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All conditions satisfied for milk_carton.", "score": 0.5}, {"step": 1221, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.064m", "score": 0.5}, {"step": 1233, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 0.5}, {"step": 1234, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.104m", "score": 0.5}, {"step": 1245, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.096m", "score": 0.5}, {"step": 1255, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.702m", "score": 0.5}, {"step": 1268, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'container_a01' nudged 0.157m", "score": 0.5}, {"step": 1270, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.084m", "score": 0.5}]}
\ No newline at end of file
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{"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", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='bowl', 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", "semantics", "simple"], "_task_attributes": ["color", "semantics", "simple"], "_task_name": "RedDishesInBinTask", "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 red dishware in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put the red dishware in the grey bin", "vague": "Clean up red dishware", "specific": "Pick up each red mug and bowl from the table and place them in the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c636ef91c1b5bbe2481a7b35a6ce4bad6f5e25d3
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 142, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 331, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 481, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 555, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.103m", "score": 0.5}, {"step": 599, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.5}, {"step": 601, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 0.603m", "score": 0.5}, {"step": 603, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 603, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env1.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf2e2d4bbb9ef2c5b1ec17fb9c0a8328fa9463a
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "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=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 334, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 342, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 342, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 614, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 615, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 679, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 679, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 707, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 745, "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/RedDishesInBinTask/log_0_env2.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8945ce6ba3dc22c9771c983b79f5d2a988351417
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 2, "run": 0, "success": true, "final_step": 775, "events": [{"step": 126, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 454, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 775, "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/RedDishesInBinTask/log_0_env3.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..875c8986e48e67824dc19419bcdc118dc3898660
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 843, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 843, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 851, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.5}, {"step": 851, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 885, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env4.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..60db58dd5f1906623b976f8317316549cb7d33eb
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 124, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 723, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 806, "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/RedDishesInBinTask/log_0_env5.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e727796ad6692f53f14e3292b52c207cf63e1f26
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 587, "events": [{"step": 118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 238, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 587, "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/RedDishesInBinTask/log_0_env6.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4cf5a19b49ba507683131a4dbbbd6eaae5b5655
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 514, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 514, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 690, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 806, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env7.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f97ffea346054e0c0260f14847f58e7c9886ae41
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedDishesInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 115, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "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": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 424, "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": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 554, "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": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 715, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.057m", "score": 0.5}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 885, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env8.json b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..56cddbec8932dc55f54e218d758da1ce579a77db
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedDishesInBinTask/log_0_env8.json
@@ -0,0 +1 @@
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\ No newline at end of file
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\ No newline at end of file
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"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", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f54ee7477e0>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f54ee746fc0>, object='bowl', 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", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "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 the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-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/RedItemsInBinTask/log_0_env0.json b/2026-08-31_17-49-55_pi05/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc07b3922a3e5c9fdc16a11f183c779c25213c9
--- /dev/null
+++ b/2026-08-31_17-49-55_pi05/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 121, "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": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.215m", "score": 0.0}, {"step": 211, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}, {"step": 212, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 0.605m", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 419, "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": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 489, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 527, "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": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 655, "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": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 732, "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": 735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 735, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}]}
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