{
  "task": "battery_insertion",
  "nut_type": null,
  "ckpt_dir": "../.././checkpoints/battery_insertion_tactile_ours",
  "ckpt_name": "policy_best.ckpt",
  "tactile_encoder": "ours",
  "num_rollouts": 20,
  "success_rate": 0.0,
  "successes": [
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false,
    false
  ],
  "episode_lengths": [
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900,
    900
  ],
  "replan_counts": [
    3,
    3,
    0,
    3,
    1,
    0,
    3,
    1,
    0,
    3,
    3,
    1,
    3,
    3,
    1,
    3,
    3,
    3,
    3,
    3
  ],
  "avg_replans": 2.15,
  "replan_threshold": 0.5,
  "replan_cooldown": 10,
  "stage_flags_per_ep": [
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": true,
      "lifted": true,
      "above_socket": true,
      "contact": true,
      "inserted": false
    },
    {
      "grasped": false,
      "lifted": false,
      "above_socket": false,
      "contact": true,
      "inserted": false
    }
  ],
  "phase_breakdown": {
    "grasp_phase_fail": 12,
    "insert_phase_fail": 8,
    "success": 0,
    "total": 20
  }
}