| {"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 4, "run": 1, "success": true, "final_step": 669, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 115, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 135, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['milkjug_a01', 'utilityjug_a03', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 136, "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": 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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 166, "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": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 233, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, 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": 345, "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": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 432, "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": 539, "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": 555, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 555, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 564, "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": 668, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 668, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} |