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harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/Put_the_rubiks_cube_behind_the_bowl_8_viewport.mp4

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"history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_behind", "params": {"object": "rubiks_cube", "reference_object": "bowl", "frame_of_reference": "robot", "mirrored": false, "require_contact_with": "table", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"group1": [["functools.partial(<function object_grabbed at 0x7f526b8ca700>, object='rubiks_cube')", 1.0]], "group2": [["functools.partial(<function object_behind at 0x7f526b849d00>, object='rubiks_cube', reference_object='bowl', frame_of_reference='robot', mirrored=False)", 1.0]], "group3": [["functools.partial(<function object_dropped at 0x7f526b8c8d60>, object='rubiks_cube')", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "rubiks_cube_behind_bowl"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "moderate"], "_task_attributes": ["spatial", "moderate"], "_task_name": "RubiksCubeBehindBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the rubiks cube behind the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the rubiks cube behind the bowl", "vague": "Put the cube behind the bowl", "specific": "Pick up the rubiks cube and place it on the table directly behind the bowl, further from you"}, "policy": "harness", "renderer": "realtime"}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 361, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 174, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 261, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 264, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 326, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.303m", "score": 0.6666666666666666}, {"step": 337, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 279, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 184, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.117m", "score": 0.6666666666666666}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.233m", "score": 0.6666666666666666}, {"step": 238, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 232, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 120, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 120, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 122, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 123, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 124, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 135, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 162, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.119m", "score": 0.6666666666666666}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.221m", "score": 0.6666666666666666}, {"step": 210, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_3_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 376, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 128, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 257, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.092m", "score": 0.6666666666666666}, {"step": 348, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.227m", "score": 0.6666666666666666}, {"step": 353, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_4_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 316, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 168, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 210, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.087m", "score": 0.6666666666666666}, {"step": 288, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.214m", "score": 0.6666666666666666}, {"step": 294, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_5_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 232, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.079m", "score": 0.6666666666666666}, {"step": 191, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.237m", "score": 0.6666666666666666}, {"step": 205, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 232, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/RubiksCubeBehindBowlTask/log_6_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeBehindBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 345, "events": [{"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=rubiks_cube). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 167, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 218, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.6666666666666666}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.107m", "score": 0.6666666666666666}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.226m", "score": 0.6666666666666666}, {"step": 318, "code": 135, "name": "OBJECT_BEHIND_SUCCESS", "info": "Completed subtask 'rubiks_cube_behind_bowl' 1/1", "score": 1.0}, {"step": 345, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}]}

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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 166, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.063m", "score": 0.6666666666666666}, {"step": 346, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.070m", "score": 0.6666666666666666}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.270m", "score": 0.6666666666666666}, {"step": 419, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.060m", "score": 0.6666666666666666}, {"step": 431, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 437, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.112m", "score": 0.6666666666666666}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_2_env0.json

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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 238, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 238, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 275, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 278, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 419, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.137m", "score": 0.6666666666666666}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_3_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 3, "success": true, "final_step": 425, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 172, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.335m", "score": 0.6666666666666666}, {"step": 306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 371, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 380, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 407, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.072m", "score": 0.6666666666666666}, {"step": 420, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'white_mug_in_center_of_table' 1/1", "score": 1.0}, {"step": 425, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 1.0}]}

harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-43-30_harness/WhiteMugInCenterOfTableTask/log_4_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "WhiteMugInCenterOfTableTask", "env_id": 0, "run": 4, "success": false, "final_step": 450, "events": [{"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.3333333333333333}, {"step": 1, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.3333333333333333}, {"step": 1, "code": 140, "name": "OBJECT_DROPPED_SUCCESS", "info": "success: object_dropped(object=mug). advanced 1 step(s) to step 1 for group3. All conditions satisfied for group3.", "score": 0.3333333333333333}, {"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'alphabet_soup_can' nudged 0.057m", "score": 0.3333333333333333}, {"step": 131, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.6666666666666666}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for group1. All conditions satisfied for group1.", "score": 0.6666666666666666}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.094m", "score": 0.6666666666666666}, {"step": 187, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.191m", "score": 0.6666666666666666}, {"step": 207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.099m", "score": 0.6666666666666666}, {"step": 343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['group1', 'group3', 'group2'])", "score": 0.6666666666666666}, {"step": 344, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.6666666666666666}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}