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\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..326699fdf8decc8c9549feb46f874e17cccb6765
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_0_env0.json
@@ -0,0 +1 @@
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{"step": 875, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 889, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a2b192bdef28b30b8a1931f095ec8f45dcf50
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 262, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 424, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 472, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 600, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 600, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 628, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 700, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 870, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.114m", "score": 0.0}, {"step": 876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.165m", "score": 0.0}, {"step": 877, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.365m", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 883, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 883, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 900, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2706824a3b0d85dfe30b54a22dbb2cd37c96a67c
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 850, "events": [{"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 470, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 546, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 546, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 612, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 616, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 616, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 618, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 850, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cef8811ac41f89deae116e6c71a309efca80784
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 3, "success": false, "final_step": 900, "events": [{"step": 266, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['coffee_pot'])", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 651, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 734, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 768, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 768, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 806, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 806, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 810, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 872, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 898, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'oatmeal_raisin_cookies' nudged 0.108m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9261692299f2508a076abdc5e2d6f6715af49609
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 4, "success": false, "final_step": 900, "events": [{"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 439, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 439, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 586, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 586, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 671, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 677, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 677, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 678, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 774, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 776, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 787, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 789, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 853, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 853, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3357b4b0e769f86ef87becce8fee1e50fd2710
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 5, "success": true, "final_step": 796, "events": [{"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['coffee_pot'])", "score": 0.0}, {"step": 335, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 508, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 645, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 796, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 796, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e22ced68a08c039fcf7760c6e78fd3a6ecf17df
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 6, "success": true, "final_step": 812, "events": [{"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 276, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "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=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 430, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 571, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 588, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 588, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 665, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 812, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 812, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5469414d169f1f0dc80b16347baca3df3121a6e
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/CoffeePotInBinTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CoffeePotInBinTask", "env_id": 0, "run": 7, "success": false, "final_step": 900, "events": [{"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 353, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=coffee_pot). regressing to step 0 for coffee_pot.", "score": 0.0}, {"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=coffee_pot). advanced 1 step(s) to step 1 for coffee_pot.", "score": 0.0}, {"step": 357, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during 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