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\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c04fb365afa1fda744b28c158cd7f4356bc1ea
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 311, "events": [{"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 311, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd26fff99b25852c52c4c31ec5fe91237026442a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 397, "events": [{"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 270, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 270, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 397, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d129e7271195db9b4cddf386d8f9ca2e6dcb6389
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 500, "events": [{"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 500, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63317f7c1128bf1b7beed5d38390efb90bf71b6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 426, "events": [{"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1618ee9b2349d233e2afbd548a823c5769deb80c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 401, "events": [{"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 401, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e26a55298fe609c30bd80d8f84db0fd9915489e6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 5, "success": true, "final_step": 395, "events": [{"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 395, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf9cbf2cb9876474adf0cfb845bb9689f503acc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 569, "events": [{"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 502, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 502, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 569, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a59bc51d7a727e1fd5901befd95f6be83b5dba
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 7, "success": true, "final_step": 416, "events": [{"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 416, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91eedf562e197d782e7769d42ef7921c48220c4
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 0, "run": 8, "success": true, "final_step": 368, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 368, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/RubiksCubeTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa0093cfc21f3d37f2aaf00ed8f23483c13bab57
--- /dev/null
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@@ -0,0 +1 @@
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"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": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "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, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "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_in_container", "params": {"object": "bbq_sauce_bottle", "container": "purple_crate", "logical": "all", "tolerance": -0.01, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"bbq_sauce_bottle": [["functools.partial(<function object_grabbed at 0x7f603a9b67a0>, object='bbq_sauce_bottle')", 0.0], ["functools.partial(<function object_in_container at 0x7f603a93b060>, object='bbq_sauce_bottle', container='purple_crate', 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": "SauceBottlesCrateTask", "num_envs": 1, "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 bbq sauce bottle in the crate", "contact_object_list": ["bbq_sauce_bottle", "purple_crate", "table", "ceramic_mug", "salad_dressing_bottle"], "_instruction_variants": {"default": "Put the red bbq sauce bottle in the crate", "vague": "Put the red bottle away", "specific": "Pick up the red BBQ sauce bottle and place it inside the wooden crate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72721aa41215dc1c764d6bad308279605590442e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 231, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 231, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 336, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 420, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 439, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 462, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 463, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1baf3c9e6e0529dd44f37e8960ff892a3f8e549
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 1, "success": true, "final_step": 531, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "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=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 389, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 389, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 531, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..df36da4b798f1eaaade402862e089aa507525965
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 2, "success": true, "final_step": 386, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 386, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c196ea0f7239d9b29ecd72d71494de5a8baaf2c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 3, "success": false, "final_step": 600, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 548, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20c9ca6550deda677393d377b75a20a17db89d9
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 4, "success": true, "final_step": 361, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.069m", "score": 0.0}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 361, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd97eca32e1df370e994f8db2a06557059730215
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 5, "success": true, "final_step": 500, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.068m", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 494, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 496, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 500, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a556ba0492148755189ccd95d9aa70d46e0a7ef7
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 6, "success": true, "final_step": 537, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.068m", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 400, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 537, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9263e2ea74066025031b04e4c776c1f36637ae2
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SauceBottlesCrateTask", "env_id": 0, "run": 7, "success": true, "final_step": 512, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'salad_dressing_bottle' nudged 0.068m", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 299, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 299, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "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=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 381, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 392, "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": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 512, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78deb67c8dceb8d09a858016d28931bc8044036
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/SauceBottlesCrateTask/log_8_env0.json
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"noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "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", 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"score": 1.0, "logical": "all", "K": null, "name": "take_measuring_cup_out"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "TakeMeasuringSpoonOutTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Take the white colored measuring spoon out of the red bowl and put it on the table.", "vague": "Take the measuring spoon out of the bowl", "specific": "Reach into the bowl, grasp the measuring spoon, lift it out, and place it on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d973e876d467a2109ba7c3f4be635f44197d9449
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 0, "success": true, "final_step": 358, "events": [{"step": 198, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 237, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.081m", "score": 1.0}, {"step": 311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.166m", "score": 1.0}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7676c3397b131a96fc0f54fb70413290274a46ea
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 327, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 375, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.156m", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..45157e67e3905da5cec408601a1db94274e23fbc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 2, "success": true, "final_step": 232, "events": [{"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 154, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 167, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.101m", "score": 1.0}, {"step": 202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.234m", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb4edd3786998cd851d104a8f0f87a5b71d2c34
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 3, "success": true, "final_step": 406, "events": [{"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 225, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 246, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 386, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cup' displaced 0.556m", "score": 1.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7987745f358ddce3f5ec0960f79ae027307298fc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMeasuringSpoonOutTask", "env_id": 0, "run": 4, "success": true, "final_step": 416, "events": [{"step": 184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'measuring_cup'", "score": 0.5}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=measuring_cup). regressing to step 0 for taking_measuring_cup_out.", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'measuring_cup' (target objects: ['taking_measuring_cup_out'])", "score": 0.5}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=measuring_cup). advanced 1 step(s) to step 1 for taking_measuring_cup_out.", "score": 0.5}, {"step": 288, "code": 126, "name": "OBJECT_OUTSIDE_OF_SUCCESS", "info": "Completed subtask 'take_measuring_cup_out' 1/1", "score": 1.0}, {"step": 383, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.364m", "score": 1.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.052m", "score": 1.0}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.053m", "score": 1.0}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'measuring_cup'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..81df32405c20be7c3a32afb872d11415e3bf4361
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_5_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_6_env0.json
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_7_env0.json
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_8_env0.json
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/TakeMeasuringSpoonOutTask/log_9_env0.json
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"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": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "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, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "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_outside_of_and_on_surface", "params": {"object": ["blue_hammer"], "container": "left_bin", "surface": "table", "logical": "all", "tolerance": 0.0, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"blue_hammer": [["functools.partial(<function object_grabbed at 0x7f72022a7880>, object='blue_hammer')", 0.0], ["functools.partial(<function object_on_top at 0x7f72022a6520>, object='blue_hammer', reference_object='table', 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", "spatial", "color", "simple"], "_task_attributes": ["semantics", "spatial", "color", "simple"], "_task_name": "ToolsPickingHammerTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Select the blue hammer and put it on the table", "contact_object_list": ["table", "clamp", "cordless_drill", "spring_clamp", "husky_hammer", "blue_hammer", "red_hammer", "wood_hammer", "left_bin", "center_bin", "right_bin", "clamp_01"], "_instruction_variants": {"default": "Select the blue hammer and put it on the table", "vague": "Get the blue hammer", "specific": "Reach into the tool area, grasp the blue-handled hammer, and place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..156bbcda3b9a93c61eaf7b3813e25e2e0be4bf49
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 207, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 815, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 842, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 848, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a071492eeb81ebc5d270cb291d90721117d978ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 273, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 585, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 637, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 701, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 702, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 702, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 757, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_hammer'", "score": 1.0}, {"step": 773, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 773, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 775, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 802, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 853, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 868, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 872, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 887, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..673c50ee5c85a0c2a982515c22f29b322c9578dc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wood_hammer'", "score": 0.0}, {"step": 311, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 443, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.052m", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 457, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 469, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.063m", "score": 0.0}, {"step": 481, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 500, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.058m", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wood_hammer' nudged 0.053m", "score": 0.0}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.057m", "score": 0.0}, {"step": 503, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.052m", "score": 0.0}, {"step": 521, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 523, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 803, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_hammer'", "score": 0.0}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 867, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 867, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 895, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b50cc66d8604f02968750f89b5ce2264b9c47ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 488, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 525, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 568, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 882, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 882, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ade786bbe432751e9d3a8d9896f8e578cbc017
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 4, "success": true, "final_step": 829, "events": [{"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 559, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 815, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19f305886d2e8ec4597bdbe4402455941cbbf41b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 5, "success": false, "final_step": 900, "events": [{"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 363, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 363, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 495, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 499, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 506, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 515, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 515, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 716, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 717, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 777, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8affd1eb4b05a6975230d37171f8077ff0b0afbb
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 6, "success": false, "final_step": 900, "events": [{"step": 192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'left_bin' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 324, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'left_bin'", "score": 0.0}, {"step": 420, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 482, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 488, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 712, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 753, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 759, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 794, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 794, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 795, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 800, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 800, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 829, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 855, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 855, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d841ed0421e5ab7470637013f46e8ca46f16e41
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 7, "success": true, "final_step": 791, "events": [{"step": 384, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 389, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 389, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 424, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 425, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 483, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 505, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 508, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 536, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 783, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0280aed9608bc79483f459049a554917cbd33941
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 8, "success": false, "final_step": 900, "events": [{"step": 182, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 279, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 683, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 689, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 794, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 1.0}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 822, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_hammer'", "score": 1.0}, {"step": 827, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 844, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 873, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}, {"step": 875, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_hammer' nudged 0.062m", "score": 1.0}, {"step": 884, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: [])", "score": 1.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 1.0}, {"step": 896, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_hammer' (target objects: [])", "score": 1.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_hammer'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..885baefb4e642c291b70f1bc5baa7fde0a3d8ef3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolsPickingHammerTask", "env_id": 0, "run": 9, "success": false, "final_step": 900, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 312, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 627, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 773, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['blue_hammer'])", "score": 0.0}, {"step": 773, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 774, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 774, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "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=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 783, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 1 for blue_hammer.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=blue_hammer). regressing to step 0 for blue_hammer.", "score": 0.0}, {"step": 785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 791, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=blue_hammer). advanced 1 step(s) to step 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\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/ToolsPickingHammerTask/run_0.hdf5
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object='rubiks_cube_top')", 0.0], ["functools.partial(<function object_on_top at 0x7f31fcd97a60>, object='rubiks_cube_top', reference_object='table', 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": ["stacking", "moderate"], "_task_attributes": ["stacking", "moderate"], "_task_name": "UnstackRubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Unstack the rubiks cube tower", "contact_object_list": ["mug", "banana", "ketchup_bottle", "rubiks_cube_middle", "rubiks_cube_top", "rubiks_cube_bottom", "bowl", "grey_bin", "table"], "_instruction_variants": {"default": "Unstack the rubiks cube tower", "vague": "Unstack the tower", "specific": "Remove each rubiks cube from the stacked tower one at a time and place them separately on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0239e33a6ba468c4f79b890e28c4534d35160c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 299, "events": [{"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fd39a1e1676d67f09bc68b046a77d2607f73953
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 854, "events": [{"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 357, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 854, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46c2cc2154b5ef553536993f32c80dc1924bc2c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 526, "events": [{"step": 9, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 526, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce2280fe99f065a0d214e133da39f4db6dfde564
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 3, "success": true, "final_step": 902, "events": [{"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 516, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 701, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_middle). regressing to step 0 for rubiks_cube_middle.", "score": 0.5}, {"step": 725, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 902, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 902, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2dd711aac5b19b353ca2110cc7e91f49618a33b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 4, "success": true, "final_step": 983, "events": [{"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_middle). regressing to step 0 for rubiks_cube_middle.", "score": 0.5}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 983, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..686b1d7fe8d2e2832697d7689697bdd483ba782c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 5, "success": true, "final_step": 922, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 1 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 922, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 922, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21e6b45e58257b9d699ae8b71026d4d09b7237e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 6, "success": true, "final_step": 323, "events": [{"step": 285, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 312, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_middle, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_middle. All conditions satisfied for rubiks_cube_middle.", "score": 0.5}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ab5c395ce0e4a4fc52d13f647795b488528179
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UnstackRubiksCubeTask", "env_id": 0, "run": 7, "success": true, "final_step": 616, "events": [{"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_top). advanced 1 step(s) to step 1 for rubiks_cube_top.", "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=rubiks_cube_top). regressing to step 0 for rubiks_cube_top.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=rubiks_cube_top, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for rubiks_cube_top. All conditions satisfied for rubiks_cube_top.", "score": 0.5}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 368, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 368, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube_middle). regressing to step 0 for rubiks_cube_middle.", "score": 0.5}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube_middle). advanced 1 step(s) to step 1 for rubiks_cube_middle.", "score": 0.5}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 616, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..195ba713f1bf71f739f7a09a78ff45c99079c636
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UnstackRubiksCubeTask/log_8_env0.json
@@ -0,0 +1 @@
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"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": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "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, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "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": ["fork_big", "spoon_big"], "container": "ceramic_mug", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"fork_big": [["functools.partial(<function object_grabbed at 0x7f72022a7880>, object='fork_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f72022a65c0>, object='fork_big', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]], "spoon_big": [["functools.partial(<function object_grabbed at 0x7f72022a7880>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f72022a65c0>, object='spoon_big', container='ceramic_mug', 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", "affordance", "moderate"], "_task_attributes": ["semantics", "affordance", "moderate"], "_task_name": "UtensilsInMugTask", "num_envs": 1, "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 fork and spoon in the ceramicmug", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Put the fork and spoon in the ceramicmug", "vague": "Put the utensils in the mug", "specific": "Take the fork on the bagel plate and put it in the ceramic mug, and take the spoon from the red bowl and put it in the mug"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb481d08d3dd54a69864e4b0c8f7dee85ca9270
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 875, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 875, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 983, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 996, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 996, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1004, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1107, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 1109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1270, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..355485168f6a228c28e4a21c76d52e9091dc2185
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 1350, "events": [{"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 292, "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=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 384, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 814, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 945, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 945, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c3ee7b3dff5bb5b7acdf2ef2b48a01f50025a6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 733, "events": [{"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 406, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 545, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 733, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 733, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..830615ef221f217cd0ac0070135c50eab267fdfe
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 3, "success": true, "final_step": 1183, "events": [{"step": 284, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 288, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 304, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 577, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 770, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1040, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1060, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1183, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4fbc0996ea241bc8f029abc36d46b9f30969606
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 4, "success": true, "final_step": 1341, "events": [{"step": 226, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 468, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 617, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 617, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 619, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 909, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1009, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1153, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1164, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1330, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1341, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff751c7d5d30be4553011b847933e805a5a2942c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 5, "success": false, "final_step": 1350, "events": [{"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 491, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 622, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 684, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_07' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 684, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_07'", "score": 0.5}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 723, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_07'", "score": 0.5}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 779, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 797, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 881, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 884, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 981, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 982, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 983, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1005, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e18f4161242a0012754316db0e199f4e9f5048a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 6, "success": false, "final_step": 1350, "events": [{"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 328, "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=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 985, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 985, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 998, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 998, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1013, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 1017, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 1051, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 1295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1328, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 1342, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 1346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d044cf86aa39ecfd52cc7ed6685157433ec61d83
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 7, "success": false, "final_step": 1350, "events": [{"step": 232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 345, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 648, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 648, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 795, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.0}, {"step": 836, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['spoon_big', 'fork_big'])", "score": 0.0}, {"step": 839, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_small'", "score": 0.0}, {"step": 840, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 905, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 962, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 1056, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 1205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.052m", "score": 0.0}, {"step": 1315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..47922d2bdeaf8c5d3cbd6cc73518eff7de04a84f
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 8, "success": false, "final_step": 1350, "events": [{"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 371, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=fork_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for fork_big. All conditions satisfied for fork_big.", "score": 0.5}, {"step": 517, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 761, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1013, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1013, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1064, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.5}, {"step": 1147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.5}, {"step": 1273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1283, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1310, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1320, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1336, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yogurt_cup' nudged 0.120m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63816c12f98cf21013511450c4358fe4469f68b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "UtensilsInMugTask", "env_id": 0, "run": 9, "success": true, "final_step": 1328, "events": [{"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 542, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.0}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.0}, {"step": 671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=spoon_big, container=ceramic_mug, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for spoon_big. All conditions satisfied for spoon_big.", "score": 0.5}, {"step": 997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1011, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yogurt_cup' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1011, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yogurt_cup'", "score": 0.5}, {"step": 1011, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yogurt_cup'", "score": 0.5}, {"step": 1131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1231, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big', 'fork_big'])", "score": 0.5}, {"step": 1231, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.5}, {"step": 1239, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.5}, {"step": 1262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=fork_big). advanced 1 step(s) to step 1 for fork_big.", "score": 0.5}, {"step": 1326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=fork_big). regressing to step 0 for fork_big.", "score": 0.5}, {"step": 1328, "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/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/run_0.hdf5 b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-31_harness/UtensilsInMugTask/run_0.hdf5
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AnimalsInBinTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/AppleAndYogurtInBowlTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/stderr.log
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-10-02T12:08:15.685444Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0081/runtime_wncv6_am/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56dcdfbab28c1417454be06b3fbfa09c009645ce
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/stderr.log
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0002/stderr.log
@@ -0,0 +1,2 @@
+2026-10-02T12:26:43.310555Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0082/runtime_tjgqf4tg/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-02T12:27:04.004429Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0003/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0003/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0003/stderr.log
new file mode 100644
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@@ -0,0 +1,3 @@
+2026-10-02T12:51:55.516964Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T12:52:02.063463Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0083/runtime_ci4oebaw/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-02T13:00:39.577084Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0004/events.jsonl
new file mode 100644
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+2026-10-02T13:09:13.598620Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T13:09:21.453840Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0084/runtime_uwnwz4br/workspace/wrist_zoom.png`: No such file or directory (os error 2)
+2026-10-02T13:09:21.465997Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0084/runtime_uwnwz4br/workspace/exterior_zoom.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0005/events.jsonl
new file mode 100644
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+2026-10-02T13:23:30.343544Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0085/runtime_kalf2260/workspace/wrist_latest.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0006/events.jsonl
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0007/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0007/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0007/stderr.log
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+2026-10-02T14:25:00.165018Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0087/runtime_or9ejy5w/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0008/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0008/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0008/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-02T14:48:44.446506Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T14:50:18.119152Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0088/runtime_g3w8mmwk/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0009/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0009/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0009/stderr.log
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@@ -0,0 +1 @@
+2026-10-02T15:20:03.495428Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0089/runtime_lurcxlql/workspace/wrist_view.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0010/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BBQSauceInBinTask/episode-0010/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-02T15:52:15.323303Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055026.396266Z_eval/episode-0090/runtime_6e643ddd/workspace/wrist_view.png`: No such file or directory (os error 2)
+2026-10-02T15:54:09.628102Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BagelsOnPlateTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BagelsOnPlateTask/episode-0001/events.jsonl
new file mode 100644
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new file mode 100644
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+2026-10-02T17:34:15.719226Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0004/events.jsonl
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0004/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0004/stderr.log
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@@ -0,0 +1,2 @@
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+2026-10-02T17:59:03.718880Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0122/runtime_b72fjexq/workspace/initial_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0005/events.jsonl
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@@ -0,0 +1,2 @@
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+2026-10-02T18:14:02.872312Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0123/runtime_ljkndcdj/workspace/exterior_image.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0006/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0006/stderr.log
new file mode 100644
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@@ -0,0 +1,2 @@
+2026-10-02T18:38:54.200714Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T18:39:05.608404Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0124/runtime_r4pm_bb5/workspace/camera_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0007/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0009/events.jsonl
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@@ -0,0 +1,3 @@
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0010/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BigPumpkinInBinTask/episode-0010/stderr.log
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+2026-10-02T19:53:04.704369Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T19:55:16.534523Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0128/runtime_96tquam4/workspace/view_1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0001/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0001/events.jsonl
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@@ -0,0 +1,3 @@
+2026-10-02T08:08:49.387220Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T08:08:57.395344Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261002T025642.877373Z_eval/episode-0019/runtime_hpipjmlt/workspace/observation_0.png`: No such file or directory (os error 2)
+2026-10-02T08:08:57.395851Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261002T025642.877373Z_eval/episode-0019/runtime_hpipjmlt/workspace/observation_1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlackItemsInBinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingOrderAgnosticTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingOrderAgnosticTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingSpecifiedOrderTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingSpecifiedOrderTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingSpecifiedOrderTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlockStackingSpecifiedOrderTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0001/events.jsonl
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+2026-10-03T23:00:00.583219Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034951.840397Z_eval/episode-0056/runtime_scme5gs7/workspace/wrist_image.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BlocksInBinTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlInBinTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlStackingRightOnLeftTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlStackingRightOnLeftTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlStackingRightOnLeftTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/BowlStackingRightOnLeftTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ButterAboveRaisinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0006/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0008/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CannedFoodInBinTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0001/events.jsonl
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@@ -0,0 +1,3 @@
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+2026-10-02T02:53:19.713430Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0039/runtime_gxe4vupc/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0002/stderr.log
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+2026-10-02T03:10:28.581136Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0003/events.jsonl
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@@ -0,0 +1,3 @@
+2026-10-02T03:42:18.138680Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0042/runtime_ovw_nuit/workspace/wrist_zoom.png`: No such file or directory (os error 2)
+2026-10-02T03:44:04.071482Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T03:46:37.040538Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0005/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0006/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-02T04:11:28.716566Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0044/runtime_74env6bb/workspace/wrist_large.png`: No such file or directory (os error 2)
+2026-10-02T04:17:37.002152Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0007/events.jsonl
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0007/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0007/stderr.log
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+2026-10-02T04:26:51.875564Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T04:34:45.751869Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0045/runtime_9hrwpukp/workspace/exterior_image_large.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0008/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0008/events.jsonl
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+2026-10-02T04:43:55.453159Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0046/runtime_gyw4boj7/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClampInRightBinTask/episode-0010/events.jsonl
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+2026-10-02T05:17:58.296398Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0048/runtime_79hyz5mo/workspace/exterior.b64
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CleanUpToysTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClearOrganicObjectsTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0001/events.jsonl
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+2026-10-01T01:33:54.848730Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0012/runtime_vsqajefk/workspace/exterior_image.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0003/events.jsonl
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+2026-10-01T02:28:55.914052Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0013/runtime_em2fa8j7/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0007/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0007/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0007/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-01T07:07:42.220820Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054926.055590Z_eval/episode-0002/runtime_fftx5wc5/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-01T07:07:55.175002Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d694d2338b88dff52f156eb2b6d9ef8af86aa3ee
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPlasticTask/episode-0010/stderr.log
new file mode 100644
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+2026-10-01T10:10:58.684689Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054926.055590Z_eval/episode-0005/runtime_9k9qiq1l/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0001/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0001/stderr.log
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
+2026-10-02T05:19:31.964315Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0081/runtime_vg3w4kno/workspace/wrist_zoom.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0002/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0002/stderr.log
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+2026-10-02T05:38:41.995549Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T05:38:50.373841Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0082/runtime_ss4n1h5h/workspace/initial_0.png`: No such file or directory (os error 2)
+2026-10-02T05:38:50.374541Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0082/runtime_ss4n1h5h/workspace/initial_1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0003/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0003/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0003/stderr.log
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0004/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0004/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0004/stderr.log
new file mode 100644
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--- /dev/null
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+2026-10-02T06:36:13.543825Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0084/runtime_9y4q_qq7/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0005/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0005/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0005/stderr.log
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,2 @@
+2026-10-02T07:01:59.618607Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T07:02:10.830752Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0085/runtime_l8ka680n/workspace/exterior_large.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4009be832a6d11bd8865bd0e1463f544828fc06c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0006/stderr.log
new file mode 100644
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@@ -0,0 +1,2 @@
+2026-10-02T07:21:30.457659Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T07:25:15.140854Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0086/runtime_z695_uqe/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0007/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0007/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0007/stderr.log
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,2 @@
+2026-10-02T07:55:48.543996Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T08:01:05.485601Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0087/runtime_dm7wzc99/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0008/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0008/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0008/stderr.log
new file mode 100644
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@@ -0,0 +1,2 @@
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+2026-10-02T08:39:48.035177Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0088/runtime_ts9n6151/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0009/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..2654683d12e26dd95f08d50bc441011648f205d5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ClutterPumpkinTask/episode-0010/stderr.log
@@ -0,0 +1,2 @@
+2026-10-02T09:47:36.996588Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T09:47:48.042795Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T055056.845440Z_eval/episode-0090/runtime_hzydqv4u/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dcdcc5fef2c8cb07c1ea33e4482b85eedeb36ed6
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0001/stderr.log
@@ -0,0 +1,2 @@
+2026-10-03T06:56:34.524381Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T06:57:27.159436Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0020/runtime_2qo06n2f/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b0fb0b74baff2d6481ba3176bfcd73e9544f09e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/stderr.log
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0002/stderr.log
@@ -0,0 +1,2 @@
+2026-10-03T07:15:20.388521Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0021/runtime_qjbs3wvx/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-03T07:15:29.210095Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ed1e0acffe77564825d84e7ef8f9933a6f83816
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..5a4d53928bf0243edc736baf55dc89b596d77bb6
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0003/stderr.log
@@ -0,0 +1,3 @@
+2026-10-03T07:33:44.314044Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T07:33:52.516995Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0022/runtime_fyg2gqhm/workspace/initial_0.png`: No such file or directory (os error 2)
+2026-10-03T07:33:52.523276Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0022/runtime_fyg2gqhm/workspace/initial_1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce6a0a06022f73d5c0bd0105401c62aaa2181f6b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..2564820afe3b5f97afb0f490e04bcac8c3ea185d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0004/stderr.log
@@ -0,0 +1,2 @@
+2026-10-03T07:56:31.707025Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T07:56:40.785597Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0023/runtime_0y_7ixfg/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a6ff690a117a3e3a1a30dcd9aaee379529855b0
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0005/stderr.log
@@ -0,0 +1 @@
+2026-10-03T08:11:48.769225Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0024/runtime_pvq470ee/workspace/obs0_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35c15ab2db20a81a2e5122aed39a9174de763329
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..eea516b8e872a19ac0ca9cf55f5513423e2fed15
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0006/stderr.log
@@ -0,0 +1,2 @@
+2026-10-03T08:34:40.090942Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0025/runtime_1bfpufwg/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-03T08:35:27.639388Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab2411f4158b723f00e54b36072b8a062a02003c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0007/stderr.log
@@ -0,0 +1 @@
+2026-10-03T08:49:26.091300Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0026/runtime_uul6tk8e/workspace/wrist_zoom.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df0ee76882d15037508d97f0a466ab0df13efc8d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0008/stderr.log
@@ -0,0 +1,2 @@
+2026-10-03T09:06:48.791577Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T09:06:55.577851Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0027/runtime_b4jpsfwz/workspace/camera_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1954270d95991a7a972f4d651100f10771e651b3
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0009/stderr.log
@@ -0,0 +1,3 @@
+2026-10-03T09:29:05.036963Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T09:29:12.580609Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0028/runtime_p16w2ohg/workspace/view0.png`: No such file or directory (os error 2)
+2026-10-03T09:29:12.580951Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0028/runtime_p16w2ohg/workspace/view1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0cfc7f723109cc5c246bdc17713ba54de3a38db5
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..ea2e8859fdfbf885dc2b289b0c9286d820808360
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CoffeePotInBinTask/episode-0010/stderr.log
@@ -0,0 +1,3 @@
+2026-10-03T09:40:43.486849Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T09:40:49.627064Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0029/runtime_jndwy9lu/workspace/exterior_initial.png`: No such file or directory (os error 2)
+2026-10-03T09:40:49.627373Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034820.638893Z_eval/episode-0029/runtime_jndwy9lu/workspace/wrist_initial.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0001/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0001/stderr.log
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,2 @@
+2026-10-03T11:11:02.658219Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T11:11:49.532876Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0017/runtime_2wn10oi3/workspace/wrist_large.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca8ec03149b6d9136a84f5420d285f8fd0374fdc
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0005/events.jsonl
new file mode 100644
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+2026-10-03T14:12:49.246007Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0021/runtime_zbwk_u9k/workspace/view_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0006/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0007/events.jsonl
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+2026-10-03T18:05:13.013667Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T18:06:04.378540Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0024/runtime_kzn9cvdj/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0009/events.jsonl
new file mode 100644
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--- /dev/null
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+2026-10-03T18:53:46.582351Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0025/runtime___4gqfqu/workspace/wrist_latest.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0010/events.jsonl
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CondimentsInBinTask/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0001/events.jsonl
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0001/stderr.log
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+2026-10-03T22:37:10.690278Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0037/runtime_cxneofsc/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-03T22:37:21.174810Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0002/events.jsonl
new file mode 100644
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--- /dev/null
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new file mode 100644
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+2026-10-03T23:04:04.493151Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T23:04:21.242391Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0038/runtime_c29jn8xi/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0003/events.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,2 @@
+2026-10-03T23:44:52.252099Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-03T23:55:49.999128Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0040/runtime_0qxvae9h/workspace/current_wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0005/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0005/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0005/stderr.log
new file mode 100644
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@@ -0,0 +1 @@
+2026-10-04T00:46:30.665546Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingClearPlateTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0001/events.jsonl
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+2026-10-02T11:35:17.576655Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0074/runtime_i7iq71nv/workspace/view0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0003/events.jsonl
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+2026-10-02T12:36:31.373086Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0077/runtime_3jt88bzy/workspace/exterior.png`: No such file or directory (os error 2)
+2026-10-02T12:36:31.373632Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0077/runtime_3jt88bzy/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-02T12:42:45.820718Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0077/runtime_3jt88bzy/workspace/observation.json
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0005/events.jsonl
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+2026-10-02T12:59:28.329303Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0078/runtime_boatwlhe/workspace/exterior_large.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0006/events.jsonl
new file mode 100644
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@@ -0,0 +1,2 @@
+2026-10-02T13:49:12.586199Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T13:51:12.565543Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0080/runtime_yx9ucg8x/workspace/frame0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0008/events.jsonl
new file mode 100644
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--- /dev/null
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+2026-10-02T14:13:25.113599Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0081/runtime_i7oqihb6/workspace/view_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0009/events.jsonl
new file mode 100644
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--- /dev/null
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0009/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0009/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-02T14:38:11.126905Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-02T14:38:25.570706Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0082/runtime_752nj2q3/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0010/events.jsonl
new file mode 100644
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--- /dev/null
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CookingPickPastaToolTask/episode-0010/stderr.log
new file mode 100644
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+2026-10-02T15:04:10.128151Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0083/runtime_j4yok71z/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0001/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0002/events.jsonl
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+2026-10-01T12:28:16.595367Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0010/runtime_9edfxpjo/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0003/events.jsonl
new file mode 100644
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0005/events.jsonl
new file mode 100644
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+2026-10-01T16:23:19.508300Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0006/events.jsonl
new file mode 100644
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+2026-10-01T17:48:14.243188Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0014/runtime_rpiykoe_/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/CubesAndBlocksInBinTask/episode-0009/events.jsonl
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+2026-10-01T21:09:12.870296Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0018/runtime_7slvzdos/workspace/wrist_large.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0006/events.jsonl
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+2026-10-03T06:03:23.882135Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0004/runtime_syr8yncs/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/DishesInBinTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0005/events.jsonl
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+2026-10-01T14:11:08.650741Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0008/runtime_zetl9cm9/workspace/scene_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0009/events.jsonl
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+2026-10-01T19:21:12.999483Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0012/runtime_o102xudu/workspace/camera_1.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/ElectronicsInBinTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1BoxesTask/episode-0010/events.jsonl
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+2026-10-02T18:46:52.931238Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0103/runtime_zzkzbavb/workspace/view0.png`: No such file or directory (os error 2)
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0004/events.jsonl
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+2026-10-02T09:37:56.920500Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0057/runtime_1a10o_60/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0005/events.jsonl
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+2026-10-02T09:41:25.468500Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0058/runtime_masm_txn/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0006/events.jsonl
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+2026-10-02T09:52:38.589653Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054825.295983Z_eval/episode-0059/runtime_jfje8ldn/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0009/events.jsonl
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+2026-10-02T10:23:25.474773Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking1CansTask/episode-0010/events.jsonl
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+2026-10-01T18:36:50.560965Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054855.610175Z_eval/episode-0023/runtime_x2xkbwgp/workspace/exterior_initial.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0005/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0007/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0008/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0009/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2BoxesTask/episode-0010/events.jsonl
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+2026-10-01T23:42:52.900021Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T23:51:13.670378Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /home/myx/codebase/outputs/harness/20261001T054855.610175Z_eval/episode-0032/runtime_6q1y2jwq/workspace/exterior_b64.txt
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0001/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0003/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0006/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0007/events.jsonl
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+2026-10-04T08:12:23.072782Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0063/runtime_mu1cquh6/workspace/wrist_zoom.png`: No such file or directory (os error 2)
+2026-10-04T08:13:35.676817Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0008/events.jsonl
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0009/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0009/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-04T09:06:01.001238Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0065/runtime_xg5q7iux/workspace/wrist_zoom.png`: No such file or directory (os error 2)
+2026-10-04T09:10:56.827574Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0010/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking2CansTask/episode-0010/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-04T09:26:52.609236Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261003T034851.094903Z_eval/episode-0066/runtime_t4fncqk0/workspace/wrist.png`: No such file or directory (os error 2)
+2026-10-04T09:28:43.612870Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0001/events.jsonl
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@@ -0,0 +1,2 @@
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+2026-09-30T14:51:56.143137Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0001/runtime_sxhgl_r0/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0002/events.jsonl
new file mode 100644
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--- /dev/null
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0002/stderr.log
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+2026-09-30T17:06:32.705244Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0002/runtime_nywh9qrr/workspace/wrist.png`: No such file or directory (os error 2)
+2026-09-30T17:07:10.061222Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0003/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0003/events.jsonl
new file mode 100644
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@@ -0,0 +1,3 @@
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+2026-09-30T18:30:06.552477Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0004/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0004/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0004/stderr.log
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+2026-09-30T19:15:11.934021Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0004/runtime_3bk0b_sn/workspace/wrist_zoom.png`: No such file or directory (os error 2)
+2026-09-30T19:17:19.498184Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0005/events.jsonl
new file mode 100644
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+2026-09-30T20:03:28.008845Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0005/runtime_cewc4kg2/workspace/exterior_image.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0006/events.jsonl
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0006/stderr.log
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@@ -0,0 +1,2 @@
+2026-09-30T20:52:53.088956Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0006/runtime_uem8q_1a/workspace/wrist.png`: No such file or directory (os error 2)
+2026-09-30T20:53:09.181770Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0007/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0007/events.jsonl
new file mode 100644
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--- /dev/null
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+2026-09-30T21:46:16.985203Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-09-30T21:47:04.814719Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0007/runtime_8kzp5nej/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0008/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0008/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
+2026-09-30T22:37:57.810331Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-09-30T22:38:06.161048Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0008/runtime_084l9o9n/workspace/camera_0.png`: No such file or directory (os error 2)
+2026-09-30T23:01:15.703029Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0008/runtime_084l9o9n/workspace/camera_data.txt
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0009/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0009/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
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@@ -0,0 +1,2 @@
+2026-09-30T23:26:08.091468Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-09-30T23:26:17.761629Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0009/runtime_4bla8mex/workspace/view0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/events.jsonl
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/stderr.log
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3BoxesTask/episode-0010/stderr.log
@@ -0,0 +1,2 @@
+2026-10-01T00:24:08.719890Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T00:25:58.125688Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144425.690538Z_eval/episode-0010/runtime_0znalosp/workspace/wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0001/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a23f64c2c4e8257c812a3e895976f9fddaecd96
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0001/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0001/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-01T03:48:51.888754Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T03:49:02.678706Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20260930T144254.487394Z_eval/episode-0011/runtime_cqhupxl8/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0002/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e13cf6ae6951cca3773762e83823a057de026878
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0002/events.jsonl
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0002/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0002/stderr.log
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0003/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0003/stderr.log
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0003/stderr.log
@@ -0,0 +1,3 @@
+2026-10-01T05:55:49.635583Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T06:04:39.743152Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T06:04:49.356338Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0001/runtime_5ailebky/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0004/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85f431ac15d8054e189d13d889bf2b0b75f9100b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0004/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0004/stderr.log
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@@ -0,0 +1,2 @@
+2026-10-01T06:40:22.532655Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T06:53:12.647591Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0002/runtime_nzwibs51/workspace/wrist_zoom.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/stderr.log
new file mode 100644
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+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0005/stderr.log
@@ -0,0 +1,2 @@
+2026-10-01T07:14:45.398918Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-01T07:15:00.180056Z ERROR codex_core::tools::router: error=unable to locate image at `/home/myx/codebase/outputs/harness/20261001T054755.827592Z_eval/episode-0003/runtime_golgi48l/workspace/exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/events.jsonl b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/events.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/stderr.log b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/stderr.log
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/codex_log/FoodPacking3CansTask/episode-0006/stderr.log
@@ -0,0 +1 @@
+2026-10-01T08:02:36.841362Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }