Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.18 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 3.91 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.26 m, initial plug-port distance: 0.20 m

Average linear jerk magnitude of the end effector: 3.75 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.78 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.20 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 6.03 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.75 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 36.32 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 5.37 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.22 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.34 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 36.26 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.80 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.19 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 6.86 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.21 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 5.87 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.23 seconds.

No excessive force detected

Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 4.97 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.27 seconds.

No excessive force detected

Total end-effector path length: 0.41 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 4.87 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.19 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 36.19 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.66 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 36.29 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 5.92 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.26 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.46 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.24 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.71 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 5.05 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.23 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.82 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.13 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.15 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.27 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.57 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 6.50 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.25 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 5.59 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.15 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.09 m

Average linear jerk magnitude of the end effector: 4.24 m/s^3

No insertion detected. Final plug port distance: 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.28 seconds.

No excessive force detected

Total end-effector path length: 0.51 m, initial plug-port distance: 0.43 m

Average linear jerk magnitude of the end effector: 4.93 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.29 m, initial plug-port distance: 0.22 m

Average linear jerk magnitude of the end effector: 4.54 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.17 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.94 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.25 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.13 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.15 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 5.10 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 11.12 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.18 seconds.

No excessive force detected

Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.62 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.61 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 3.52 m/s^3

No insertion detected. Final plug port distance: 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.21 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.30 m/s^3

No insertion detected. Final plug port distance: 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.75 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.07 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.12 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 4.05 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.22 seconds.

No excessive force detected

Total end-effector path length: 0.20 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.61 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.27 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.22 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

No excessive force detected

Total end-effector path length: 0.19 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 4.59 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.15 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.43 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 3.95 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.22 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 6.15 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.22 seconds.

No excessive force detected

Total end-effector path length: 0.14 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.52 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.41 m, initial plug-port distance: 0.35 m

Average linear jerk magnitude of the end effector: 5.33 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.51 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.14 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.87 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.17 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.63 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.25 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 5.15 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.04 m

Average linear jerk magnitude of the end effector: 3.59 m/s^3

No insertion detected. Final plug port distance: 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.78 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.26 m, initial plug-port distance: 0.23 m

Average linear jerk magnitude of the end effector: 4.47 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.17 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

Insertion force above 20.00 N, detected for a time of 0.02 seconds. Max detected force: 57.42N. This is below the threshold of 1.00 seconds. Penalty not applied.

Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 9.97 m/s^3

Partial insertion detected with distance of -0.00m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.26 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 5.10 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.02 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m

Average linear jerk magnitude of the end effector: 4.85 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.37 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.63 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.03 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 5.44 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.25 seconds.

No excessive force detected

Total end-effector path length: 0.39 m, initial plug-port distance: 0.35 m

Average linear jerk magnitude of the end effector: 4.72 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.85 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.14 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.24 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.21 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.77 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.19 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 5.02 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 5.19 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.16 seconds.

No excessive force detected

Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 4.48 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.19 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.53 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

Insertion force above 20.00 N, detected for a time of 5.35 seconds. Max detected force: 26.85N. This is above the threshold of 1.00 seconds. Penalty applied.

Total end-effector path length: 0.18 m, initial plug-port distance: 0.06 m

Average linear jerk magnitude of the end effector: 6.63 m/s^3

No insertion detected. Final plug port distance: 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.15 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.47 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.34 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.36 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 6.07 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.17 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.91 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.06 seconds.

No excessive force detected

Total end-effector path length: 0.29 m, initial plug-port distance: 0.23 m

Average linear jerk magnitude of the end effector: 4.42 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.21 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.26 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.29 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.48 m, initial plug-port distance: 0.41 m

Average linear jerk magnitude of the end effector: 4.33 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.27 m, initial plug-port distance: 0.20 m

Average linear jerk magnitude of the end effector: 4.88 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.34 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.34 m, initial plug-port distance: 0.26 m

Average linear jerk magnitude of the end effector: 3.65 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.96 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.30 m, initial plug-port distance: 0.23 m

Average linear jerk magnitude of the end effector: 4.67 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 5.80 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.08 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 5.50 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.38 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.28 m, initial plug-port distance: 0.07 m

Average linear jerk magnitude of the end effector: 3.61 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.14 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.58 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.17 m, initial plug-port distance: 0.16 m

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.23 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.23 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 4.81 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.17 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.54 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 4.48 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.05 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.60 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.41 m

Average linear jerk magnitude of the end effector: 5.13 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.93 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.57 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Plug is not within max bounding radius from target port, not assigning time bonus

No excessive force detected

Plug is not within max bounding radius from target port, not assigning efficiency bonus

Plug is not within max bounding radius from target port, not assigning jerk bonus

No insertion detected. Final plug port distance: 0.13m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.06 m

Average linear jerk magnitude of the end effector: 4.38 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.28 m, initial plug-port distance: 0.25 m

Average linear jerk magnitude of the end effector: 5.12 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 5.54 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.25 m, initial plug-port distance: 0.20 m

Average linear jerk magnitude of the end effector: 5.07 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.73 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.30 m, initial plug-port distance: 0.27 m

Average linear jerk magnitude of the end effector: 4.67 m/s^3

No insertion detected. Final plug port distance: 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.49 m, initial plug-port distance: 0.42 m

Average linear jerk magnitude of the end effector: 4.13 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.11 seconds.

No excessive force detected

Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.74 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 35.30 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.56 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.17 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.81 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.19 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 4.10 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 5.73 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.07 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 5.08 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 3.56 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.09 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 5.24 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 5.10 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.11 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.06 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Plug is not within max bounding radius from target port, not assigning time bonus

Insertion force above 20.00 N, detected for a time of 27.08 seconds. Max detected force: 79.70N. This is above the threshold of 1.00 seconds. Penalty applied.

Plug is not within max bounding radius from target port, not assigning efficiency bonus

Plug is not within max bounding radius from target port, not assigning jerk bonus

No insertion detected. Final plug port distance: 0.35m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.09 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.76 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

No excessive force detected

Total end-effector path length: 0.41 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 5.05 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.12 seconds.

No excessive force detected

Total end-effector path length: 0.29 m, initial plug-port distance: 0.22 m

Average linear jerk magnitude of the end effector: 4.36 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.89 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.70 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.32 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.90 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.38 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.09 m

Average linear jerk magnitude of the end effector: 5.21 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.10 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 4.73 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.50 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.10 seconds.

No excessive force detected

Total end-effector path length: 0.28 m, initial plug-port distance: 0.22 m

Average linear jerk magnitude of the end effector: 4.50 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.55 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.09 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.70 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.12 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.10 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.20 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 3.77 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.40 m, initial plug-port distance: 0.04 m

Average linear jerk magnitude of the end effector: 4.17 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.03 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.68 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 4.56 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.17 seconds.

No excessive force detected

Total end-effector path length: 0.28 m, initial plug-port distance: 0.22 m

Average linear jerk magnitude of the end effector: 4.77 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.33 m

Average linear jerk magnitude of the end effector: 5.09 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.19 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.80 m/s^3

Partial insertion detected with distance of -0.00m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.32 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.04 seconds.

No excessive force detected

Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.31 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.10 seconds.

No excessive force detected

Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.04 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.62 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m

Average linear jerk magnitude of the end effector: 4.61 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.18 seconds.

No excessive force detected

Total end-effector path length: 0.31 m, initial plug-port distance: 0.28 m

Average linear jerk magnitude of the end effector: 4.57 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.78 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.13 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 5.14 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.37 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 6.54 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.05 seconds.

No excessive force detected

Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.28 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.12 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.44 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.09 seconds.

No excessive force detected

Total end-effector path length: 0.20 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 5.40 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.18 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.14 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 6.36 m/s^3


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

No excessive force detected

Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.74 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.10 seconds.

No excessive force detected

Total end-effector path length: 0.31 m, initial plug-port distance: 0.24 m

Average linear jerk magnitude of the end effector: 4.07 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.18 seconds.

No excessive force detected

Total end-effector path length: 0.25 m, initial plug-port distance: 0.24 m

Average linear jerk magnitude of the end effector: 4.64 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.21 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.12 m

Average linear jerk magnitude of the end effector: 4.17 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.23 seconds.

No excessive force detected

Total end-effector path length: 0.52 m, initial plug-port distance: 0.44 m

Average linear jerk magnitude of the end effector: 4.60 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.08 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.77 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.40 m

Average linear jerk magnitude of the end effector: 4.45 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.07 seconds.

No excessive force detected

Total end-effector path length: 0.11 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.87 m/s^3

Partial insertion detected with distance of 0.04m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.50 m, initial plug-port distance: 0.42 m

Average linear jerk magnitude of the end effector: 4.67 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.05 seconds.

Insertion force above 20.00 N, detected for a time of 0.02 seconds. Max detected force: 98.10N. This is below the threshold of 1.00 seconds. Penalty not applied.

Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 9.48 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.11 m

Average linear jerk magnitude of the end effector: 4.90 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m

Average linear jerk magnitude of the end effector: 4.42 m/s^3

Partial insertion detected with distance of 0.00m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 4.56 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.17 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.20 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.22 seconds.

No excessive force detected

Total end-effector path length: 0.51 m, initial plug-port distance: 0.43 m

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.18 seconds.

No excessive force detected

Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 4.48 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

No excessive force detected

Total end-effector path length: 0.50 m, initial plug-port distance: 0.42 m

Average linear jerk magnitude of the end effector: 4.66 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.11 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 5.07 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.52 m, initial plug-port distance: 0.45 m

Average linear jerk magnitude of the end effector: 4.58 m/s^3

Partial insertion detected with distance of 0.01m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.10 seconds.

No excessive force detected

Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.18 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 5.69 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 4.85 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.14 m, initial plug-port distance: 0.14 m

Average linear jerk magnitude of the end effector: 5.47 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.15 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.94 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.08 seconds.

No excessive force detected

Total end-effector path length: 0.29 m, initial plug-port distance: 0.23 m

Average linear jerk magnitude of the end effector: 4.43 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m

Average linear jerk magnitude of the end effector: 5.14 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.25 seconds.

No excessive force detected

Total end-effector path length: 0.15 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 5.65 m/s^3

Partial insertion detected with distance of 0.05m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 4.92 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.07 seconds.

No excessive force detected

Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m

Average linear jerk magnitude of the end effector: 4.25 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 4.80 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 33.11 seconds.

No excessive force detected

Total end-effector path length: 0.31 m, initial plug-port distance: 0.24 m

Average linear jerk magnitude of the end effector: 4.73 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m

Average linear jerk magnitude of the end effector: 4.57 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.20 seconds.

No excessive force detected

Total end-effector path length: 0.23 m, initial plug-port distance: 0.04 m

Average linear jerk magnitude of the end effector: 3.42 m/s^3

No insertion detected. Final plug port distance: 0.02m.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.10 seconds.

No excessive force detected

Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m

Average linear jerk magnitude of the end effector: 4.94 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.11 seconds.

No excessive force detected

Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 5.25 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.16 seconds.

No excessive force detected

Total end-effector path length: 0.19 m, initial plug-port distance: 0.16 m

Average linear jerk magnitude of the end effector: 5.94 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m

Average linear jerk magnitude of the end effector: 4.74 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.11 seconds.

No excessive force detected

Total end-effector path length: 0.20 m, initial plug-port distance: 0.17 m

Average linear jerk magnitude of the end effector: 5.13 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.40 m, initial plug-port distance: 0.35 m

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.13 seconds.

No excessive force detected

Total end-effector path length: 0.26 m, initial plug-port distance: 0.19 m

Average linear jerk magnitude of the end effector: 4.27 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.14 seconds.

No excessive force detected

Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m

Average linear jerk magnitude of the end effector: 5.63 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.17 seconds.

No excessive force detected

Average linear jerk magnitude of the end effector: 5.67 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.09 seconds.

No excessive force detected

Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m

Average linear jerk magnitude of the end effector: 4.32 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.19 seconds.

No excessive force detected

Total end-effector path length: 0.38 m, initial plug-port distance: 0.33 m

Average linear jerk magnitude of the end effector: 5.92 m/s^3

Cable insertion successful.


Model validation succeeded.

Scoring succeeded.

No contact detected.

Task duration: 34.12 seconds.

No excessive force detected

Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m

Average linear jerk magnitude of the end effector: 4.72 m/s^3

Partial insertion detected with distance of 0.01m.