| {"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 1, "run": 0, "success": true, "final_step": 2201, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"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": 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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 102, "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": 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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 111, "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": 178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 394, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 614, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 614, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 618, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 837, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 840, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1024, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1025, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1026, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1028, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1030, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1033, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1035, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1037, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1122, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.533m", "score": 0.6666666666666666}, {"step": 1144, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.219m", "score": 0.6666666666666666}, {"step": 1302, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_onion'", "score": 0.6666666666666666}, {"step": 1319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.6666666666666666}, {"step": 1393, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_onion' displaced 0.563m", "score": 0.6666666666666666}, {"step": 1414, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1939, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2043, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 2201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 2201, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} |