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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef3a7ca9e984766587ad12df38b0b7bcf49a0a6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/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": 136, "events": [{"step": 86, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 136, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e5c2443635bf28f345bc7aad65c35c50d1198f0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 1, "run": 0, "success": true, "final_step": 302, "events": [{"step": 120, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 205, "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": 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": 261, "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": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 301, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eed30ee6a773799f32de6c1c8b7215deab8b1c7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 2, "run": 0, "success": true, "final_step": 139, "events": [{"step": 34, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 94, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 137, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..896e3fa43973dc59db4cd8e42d101f4902b7f400
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 3, "run": 0, "success": true, "final_step": 110, "events": [{"step": 76, "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": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 108, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..94da0ea464e706d36b778597c9abe54629c8f7c2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 4, "run": 0, "success": true, "final_step": 122, "events": [{"step": 81, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "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": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 121, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1a5264d8199a95ceba78fe2f191e7b4c777dfa
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeTask", "env_id": 5, "run": 0, "success": true, "final_step": 110, "events": [{"step": 75, "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": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 108, "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/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b97dfaff2848d31ebcc7344de014c75503a5bab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/RubiksCubeTask/log_0_env6.json
@@ -0,0 +1 @@
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\ No newline at end of file
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"vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1f269298c2e6e9ae363e8a6ed1618cefae543bf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 71, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 99, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.064m", "score": 0.0}, {"step": 202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 244, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.304m", "score": 0.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.095m", "score": 0.0}, {"step": 413, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 452, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.100m", "score": 0.0}, {"step": 740, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 748, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 885, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..496e16a06e23b8f76222a7b382733b3524c944e0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 83, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.058m", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.248m", "score": 0.0}, {"step": 389, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.126m", "score": 0.0}, {"step": 548, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 579, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 651, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.548m", "score": 0.0}, {"step": 652, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.059m", "score": 0.0}, {"step": 831, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0c445e9d86683d73f0b55490cc89fa3119741d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 83, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 345, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.214m", "score": 0.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.420m", "score": 0.0}, {"step": 413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.184m", "score": 0.0}, {"step": 542, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.289m", "score": 0.0}, {"step": 689, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.314m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.086m", "score": 0.0}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 898, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03129ea96aa686be5e6b2bf746fbaac653ff2c8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 61, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 80, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 180, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.325m", "score": 0.0}, {"step": 184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.115m", "score": 0.0}, {"step": 326, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 385, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 496, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 746, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ab0d6ff9bde77a61d1ca65d9f4d0d62b4f6308
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env4.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..9251c29b69f99c3e9e883e1fcb1f1440675f1d92
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 61, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 92, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.258m", "score": 0.0}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 240, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.316m", "score": 0.0}, {"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.140m", "score": 0.0}, {"step": 357, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 400, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.524m", "score": 0.0}, {"step": 473, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 480, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.203m", "score": 0.0}, {"step": 672, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 672, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.0}, {"step": 714, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.374m", "score": 0.0}, {"step": 724, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.0}, {"step": 736, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.172m", "score": 0.0}, {"step": 893, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env6.json
new file mode 100644
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+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 93, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.084m", "score": 0.0}, {"step": 148, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 166, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.075m", "score": 0.0}, {"step": 245, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.201m", "score": 0.0}, {"step": 254, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.069m", "score": 0.0}, {"step": 404, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 433, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 438, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 564, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.532m", "score": 0.0}, {"step": 633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 710, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..34fb2d16b464fa88442d62ce9cae2d7b2888420d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.245m", "score": 0.0}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.072m", "score": 0.0}, {"step": 451, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 463, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 464, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 465, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 516, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'milkjug_a01'", "score": 0.0}, {"step": 516, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 537, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 554, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 570, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'milkjug_a01'", "score": 0.0}, {"step": 576, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'milkjug_a01' displaced 0.732m", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env8.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/run_0.hdf5 b/pi0.5/2026-09-29_11-23-29_pi05/SmallPumpkinInBinTask/run_0.hdf5
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_env0.mp4 b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_env0.mp4
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_env0_viewport.mp4 b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/Stack_the_rubiks_cubes_in_a_tower_0_env0_viewport.mp4
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd01621d0b87af27cacd260415a0750b76e48fb1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 323, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 99, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 112, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.195m", "score": 0.0}, {"step": 122, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 137, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 149, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 249, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 322, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 323, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f74ad35de26147420a60508937e2a1a954a9b5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 1, "run": 0, "success": true, "final_step": 337, "events": [{"step": 88, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 88, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 123, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.215m", "score": 0.0}, {"step": 135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 136, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 285, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 285, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 333, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.294m", "score": 0.5}, {"step": 337, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..016990c2e787d6f7b03349bd684b9f19a524fe8c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 2, "run": 0, "success": true, "final_step": 572, "events": [{"step": 127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 127, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.202m", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 211, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 362, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 496, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.282m", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 572, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6925b3f16c4f9c0e28c12db6252d534dfdf81c38
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 3, "run": 0, "success": true, "final_step": 361, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 118, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.213m", "score": 0.0}, {"step": 164, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 258, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 326, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.277m", "score": 0.5}, {"step": 361, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_all_3_cubes' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..519b99dc43a89bdf1c106866ed11e392338cbae6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.206m", "score": 0.0}, {"step": 141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 142, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.213m", "score": 0.5}, {"step": 207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 207, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_2'", "score": 0.5}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.184m", "score": 0.5}, {"step": 255, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.090m", "score": 0.5}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 353, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 355, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_2' nudged 0.084m", "score": 0.5}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 564, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 564, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 602, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 605, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 619, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 633, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 635, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 676, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_2' (target objects: ['conditions'])", "score": 0.5}, {"step": 691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_2'", "score": 0.5}, {"step": 804, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.163m", "score": 0.5}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3c64a728d3674dd8002e5028c917b3c449ac3a4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 82, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 126, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.187m", "score": 0.0}, {"step": 133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 133, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.276m", "score": 0.5}, {"step": 300, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.095m", "score": 0.5}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3f79fe48336999ba015691413e4c64a112f4d9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "Stack3RubiksCubeTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 76, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['cube_0_and_1', 'cube_1_and_2', 'cube_0_and_2'])", "score": 0.0}, {"step": 76, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.182m", "score": 0.0}, {"step": 141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 141, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'stack_any_2_cubes' 1/2", "score": 0.5}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 533, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_1' (target objects: ['conditions'])", "score": 0.5}, {"step": 533, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_1'", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_1'", "score": 0.5}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_1' nudged 0.260m", "score": 0.5}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.173m", "score": 0.5}, {"step": 670, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 676, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 712, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.095m", "score": 0.5}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 823, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['conditions'])", "score": 0.5}]}
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/Stack3RubiksCubeTask/log_0_env7.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..771ce9d94785bcf03e6bc84776db4e6b9c8d6ead
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 12, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 18, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=ceramic_mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 99, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 104, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.277m", "score": 0.5}, {"step": 481, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 618, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 709, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 725, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 725, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.5}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.084m", "score": 0.5}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1487, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1696, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 1697, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 1707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1708, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 1711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 1727, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 1728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1741, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 2479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d553a9ce0f23db7cd0f5c725739f3cc82ab11260
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 399, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 483, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6f0344b8c60331b75a1abeeebd47c3425d349a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 66, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 70, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.171m", "score": 0.5}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 261, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.5}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'serving_bowl' nudged 0.090m", "score": 0.5}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 419, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.5}, {"step": 435, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.5}, {"step": 451, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.803m", "score": 0.5}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 600, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1007, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1891, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2020, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2021, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 2026, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 2157, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 2267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}, {"step": 2268, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2270, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 2641, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a39424b65016dd70e91dc889f67c3f1b4ce18d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 15, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 0.0}, {"step": 40, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=ceramic_mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 49, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.5}, {"step": 53, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.177m", "score": 0.5}, {"step": 266, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.5}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.5}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 429, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 516, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.5}, {"step": 776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 902, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 904, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.5}, {"step": 904, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 908, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 909, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.5}, {"step": 1003, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1037, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1879, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1892, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2101, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['mug', 'ceramic_mug'])", "score": 0.5}, {"step": 2101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.5}, {"step": 2273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2465, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2646, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..df2c9e6964ece009f9de7acca7a76c43c9715231
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 51, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 0.0}, {"step": 59, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.560m", "score": 0.0}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 907, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1014, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1091, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 1157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1967, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1984, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 1993, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2010, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.763m", "score": 0.0}, {"step": 2057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2314, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2660, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de6bb1a17ff0f196eb8cafdbab5c80006274e5f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 22, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 30, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 1.0}, {"step": 30, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug'", "score": 1.0}, {"step": 31, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'rack_l04'", "score": 1.0}, {"step": 37, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'rack_l04' displaced 1.384m", "score": 1.0}, {"step": 38, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.905m", "score": 1.0}, {"step": 52, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.896m", "score": 1.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1320, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 1.0}, {"step": 1663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1721, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1736, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2657, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..71b80d225ae9547d71fb22472af699aa9c72ece3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeMugsOffOfShelfTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 30, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.074m", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=ceramic_mug, reference_object=table, require_gripper_detached=True). advanced 2 step(s) to step 2 for ceramic_mug. All conditions satisfied for ceramic_mug.", "score": 0.5}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 224, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rack_l04' nudged 0.082m", "score": 1.0}, {"step": 234, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.065m", "score": 1.0}, {"step": 328, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 1.0}, {"step": 380, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: [])", "score": 1.0}, {"step": 382, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 383, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 1.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 471, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 531, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: [])", "score": 1.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 540, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 1.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 767, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rack_l04'", "score": 1.0}, {"step": 775, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 781, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}, {"step": 855, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: [])", "score": 1.0}, {"step": 861, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 862, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 1.0}, {"step": 1110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1232, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: [])", "score": 1.0}, {"step": 1405, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 1.0}, {"step": 1408, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 1411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: [])", "score": 1.0}, {"step": 1417, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 1419, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 1.0}, {"step": 1772, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 2391, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rack_l04' (target objects: [])", "score": 1.0}, {"step": 2397, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rack_l04'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b82340d712f3c1cf03dda9a850e94477ab0eaa
--- /dev/null
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeMugsOffOfShelfTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env0.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3223262f7f912ee4d066bee390768ab7aabf655
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 18, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 617, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 635, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.083m", "score": 0.0}, {"step": 643, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 649, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 650, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env1.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e67db3a68ff4fa310eac8e9d4f4d5810c7caada1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 86, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.082m", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae22e8fa8f6590b4cfa71cbed6d551466cde36e5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 410, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 441, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.171m", "score": 0.0}, {"step": 464, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 539, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 848, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8f86e9abe3e3b51d27333d467493677b9716d7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 32, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ea79b37302053cda32ccccc9ad7fd28abdea2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 4, "run": 0, "success": true, "final_step": 579, "events": [{"step": 29, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 142, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.095m", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 148, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.413m", "score": 1.0}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_01' (target objects: [])", "score": 1.0}, {"step": 405, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_01'", "score": 1.0}, {"step": 406, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: [])", "score": 1.0}, {"step": 434, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_01' (target objects: [])", "score": 1.0}, {"step": 511, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.338m", "score": 1.0}, {"step": 526, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.117m", "score": 1.0}, {"step": 556, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.097m", "score": 1.0}, {"step": 577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0636e973c121b172379654505accdc30b639ffe8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 22, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 139, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 141, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 187, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.161m", "score": 0.0}, {"step": 502, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.913m", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 846, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 883, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 891, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d13139ba6418f3c69d8f704d1303681235fcad9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 24, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 192, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 204, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.072m", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env7.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..063736f3c605374f7d934b69c112c3c74e751cb0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env8.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5716162429c9979d424f066ec95761f8a703729e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 414, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 430, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 431, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env9.json b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e2bd28d468c502d6dcd63316b1c9c238552672
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 15, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 26, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 29, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 29, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 30, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 31, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/run_0.hdf5 b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/run_0.hdf5
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index 0000000000000000000000000000000000000000..bde016b62841416d241beba40fe6f06bf0bc45e7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-23-29_pi05/TakeSpatulaOffShelfTask/run_0.hdf5
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