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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/FruitsOnPlateTask/log_0_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..327a02a197af63301b6436258528e1b9dcbb5f77
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 4251, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. 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"Target object dropped during transport", "score": 0.14285714285714285}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1386, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1473, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1473, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.14285714285714285}, {"step": 1478, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.14285714285714285}, {"step": 1486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.075m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.209m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.177m", "score": 0.14285714285714285}, {"step": 1501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.128m", "score": 0.14285714285714285}, {"step": 1581, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1611, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1709, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1711, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1712, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1712, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1783, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1783, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1785, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1807, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1811, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1936, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1943, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1943, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1944, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1952, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1953, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1954, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1954, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1955, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1958, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1958, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1960, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2097, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 2135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.2857142857142857}, {"step": 2267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2857142857142857}, {"step": 2294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2416, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.42857142857142855}, {"step": 2417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2701, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.5714285714285714}, {"step": 2818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.5714285714285714}, {"step": 2825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.5714285714285714}, {"step": 2947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.5714285714285714}, {"step": 3045, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.7142857142857143}, {"step": 3048, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.7142857142857143}, {"step": 3189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.7142857142857143}, {"step": 3284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.8571428571428571}, {"step": 3293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3680, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3758, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3758, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3759, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 4251, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cb49910a2f3ae52411bd5f74e70942229c197b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 221, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 366, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 377, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 379, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 405, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 732, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 822, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 827, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1154, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.517m", "score": 0.14285714285714285}, {"step": 1366, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 1367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.283m", "score": 0.14285714285714285}, {"step": 1489, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 1578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1582, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1608, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1618, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1618, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1712, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1742, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1745, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1942, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1942, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1946, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.098m", "score": 0.14285714285714285}, {"step": 1946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1947, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.062m", "score": 0.14285714285714285}, {"step": 1947, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.158m", "score": 0.14285714285714285}, {"step": 2050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 2152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 2275, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.14285714285714285}, {"step": 2311, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.158m", "score": 0.14285714285714285}, {"step": 2378, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.492m", "score": 0.14285714285714285}, {"step": 2516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2534, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 2534, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 2535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 2620, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2620, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.2857142857142857}, {"step": 2620, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.2857142857142857}, {"step": 2716, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2828, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 2829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2965, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2965, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 2967, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2970, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2970, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 2971, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 3091, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 3091, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 3092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 3093, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 3096, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.5714285714285714}, {"step": 3100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 3364, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 3367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 3468, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.5714285714285714}, {"step": 3468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 3469, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.7142857142857143}, {"step": 3469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.7142857142857143}, {"step": 3599, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 3609, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 3626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 3745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3755, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.8571428571428571}, {"step": 3957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3964, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3964, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4054, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_2_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..817743217589f5a101b3dea0bc7b3c554128c7a8
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 311, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 505, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 506, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.451m", "score": 0.14285714285714285}, {"step": 996, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 998, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1131, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.333m", "score": 0.14285714285714285}, {"step": 1176, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.14285714285714285}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1471, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.2857142857142857}, {"step": 1628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1776, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1776, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.42857142857142855}, {"step": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 2137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.5714285714285714}, {"step": 2486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2606, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3036, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.8571428571428571}, {"step": 3286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3477, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 3591, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.671m", "score": 0.8571428571428571}, {"step": 3804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3805, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3805, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3860, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3864, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3865, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3868, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3868, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3920, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.105m", "score": 0.8571428571428571}, {"step": 4228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.241m", "score": 0.8571428571428571}, {"step": 4237, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.291m", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_3_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4a6b3f616bfe4dfc8f88594fbc131a3136937d
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_3_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 3, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 254, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 254, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 256, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 647, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 863, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 892, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 892, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 990, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.14285714285714285}, {"step": 991, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 992, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 992, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 993, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1017, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1019, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1019, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1020, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.14285714285714285}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.2857142857142857}, {"step": 1327, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.2857142857142857}, {"step": 1331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.2857142857142857}, {"step": 1332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.2857142857142857}, {"step": 1333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 1357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.2857142857142857}, {"step": 1551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 1720, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1720, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 1897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 1901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.42857142857142855}, {"step": 1926, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1926, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.42857142857142855}, {"step": 1927, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2084, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2084, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.5714285714285714}, {"step": 2579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 3030, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3030, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3524, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.8571428571428571}, {"step": 3542, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3545, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3552, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.067m", "score": 0.8571428571428571}, {"step": 3656, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'clay_plates' displaced 120.611m", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_4_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0550215ae70b1aaa79bc23d25f3edf2237d0ec
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_4_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 4, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 391, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 422, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 496, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 664, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 828, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 987, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1128, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 1128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1276, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.2857142857142857}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 1626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1626, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 1868, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.42857142857142855}, {"step": 2066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2066, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.5714285714285714}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2451, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3761, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3779, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3780, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3780, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3782, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3802, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3802, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3803, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3808, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}]}
\ 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/FruitsOnPlateTask/log_5_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41780ce6a7d84a1b47cc47f23318a5d26923838
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_5_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 5, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 322, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 322, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 407, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 927, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1003, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1006, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1011, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1082, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1086, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.487m", "score": 0.14285714285714285}, {"step": 1371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1372, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 1380, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 1489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1522, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1526, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1580, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1580, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1598, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1708, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1767, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1767, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1895, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1983, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1983, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.2857142857142857}, {"step": 1991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1993, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.2857142857142857}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2098, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2098, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.2857142857142857}, {"step": 2207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.2857142857142857}, {"step": 2212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.42857142857142855}, {"step": 2320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.42857142857142855}, {"step": 2471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2471, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.5714285714285714}, {"step": 2751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.5714285714285714}, {"step": 2905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.5714285714285714}, {"step": 2906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.7142857142857143}, {"step": 3027, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.8571428571428571}, {"step": 3186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3298, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3298, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.8571428571428571}, {"step": 3387, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.270m", "score": 0.8571428571428571}, {"step": 3427, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3428, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.8571428571428571}, {"step": 3436, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'redonion'", "score": 0.8571428571428571}, {"step": 3444, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'redonion' displaced 0.735m", "score": 0.8571428571428571}, {"step": 3577, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 3697, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.553m", "score": 0.8571428571428571}, {"step": 3848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3859, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3876, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3876, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3884, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3889, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3896, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3940, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3941, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4044, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.057m", "score": 0.8571428571428571}, {"step": 4063, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}, {"step": 4408, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_6_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcfc0d2296b68420f5565169d423c9cb6dbb8ccd
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_6_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 6, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.14285714285714285}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 459, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.102m", "score": 0.14285714285714285}, {"step": 603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 603, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.14285714285714285}, {"step": 606, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 622, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.14285714285714285}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.326m", "score": 0.14285714285714285}, {"step": 771, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.14285714285714285}, {"step": 890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1019, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1053, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1053, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 1207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 1347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.2857142857142857}, {"step": 1369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2857142857142857}, {"step": 1828, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1828, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.2857142857142857}, {"step": 1870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.2857142857142857}, {"step": 2021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2021, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.42857142857142855}, {"step": 2038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 2176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.42857142857142855}, {"step": 2176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 2296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 2456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2456, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5714285714285714}, {"step": 2459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2747, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.7142857142857143}, {"step": 2753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 2912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 2917, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3058, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3058, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3086, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.7142857142857143}, {"step": 3087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3087, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.7142857142857143}, {"step": 3093, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.8571428571428571}, {"step": 3156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3342, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3525, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3532, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3725, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3726, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3727, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 3839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 3844, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.8571428571428571}, {"step": 3844, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4050, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4055, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4112, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['lemon_01', 'pomegranate01', 'lime01_01', 'orange_01', 'lime01', 'orange_02', 'lemon_02'])", "score": 0.8571428571428571}, {"step": 4114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.8571428571428571}, {"step": 4381, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.656m", "score": 0.8571428571428571}, {"step": 4414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.150m", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_7_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_7_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..971691c2c7f800f6044dcae29b75727ab1289795
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_7_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 7, "success": true, "final_step": 3206, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 277, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 444, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 444, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.2857142857142857}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 852, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 854, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 991, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.2857142857142857}, {"step": 996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.2857142857142857}, {"step": 1057, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1076, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1076, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1077, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1079, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1079, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1080, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 1080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1082, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1082, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.42857142857142855}, {"step": 1241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.42857142857142855}, {"step": 1341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 1341, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.5714285714285714}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.5714285714285714}, {"step": 1561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 1561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.5714285714285714}, {"step": 1562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.7142857142857143}, {"step": 1807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 1882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 1921, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 1927, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 1943, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 2022, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.7142857142857143}, {"step": 2037, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 2141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 2143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.8571428571428571}, {"step": 2161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 2281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2431, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2451, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2491, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2491, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2701, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 2701, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 2724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 2791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.057m", "score": 0.8571428571428571}, {"step": 2863, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.070m", "score": 0.8571428571428571}, {"step": 2865, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.105m", "score": 0.8571428571428571}, {"step": 2874, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.087m", "score": 0.8571428571428571}, {"step": 2876, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.122m", "score": 0.8571428571428571}, {"step": 3028, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3057, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3057, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3059, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3059, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3060, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 3061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}, {"step": 3206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 3206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8199e392553da6cd3d1fd982f7da29f1ebcea0a
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_8_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 8, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 450, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 533, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 535, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 535, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 536, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 703, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 739, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 805, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 813, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 813, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 906, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 906, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1099, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.14285714285714285}, {"step": 1099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.14285714285714285}, {"step": 1115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.14285714285714285}, {"step": 1164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.14285714285714285}, {"step": 1235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.14285714285714285}, {"step": 1418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 1433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.14285714285714285}, {"step": 1441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.14285714285714285}, {"step": 1606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1606, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.2857142857142857}, {"step": 1893, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.2857142857142857}, {"step": 2050, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.2857142857142857}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2077, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.2857142857142857}, {"step": 2082, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2087, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2097, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.2857142857142857}, {"step": 2278, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 2289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.2857142857142857}, {"step": 2290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.2857142857142857}, {"step": 2471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2471, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.42857142857142855}, {"step": 2660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2977, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 2977, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2978, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2986, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.42857142857142855}, {"step": 2988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.42857142857142855}, {"step": 2989, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lime01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lime01. All conditions satisfied for lime01.", "score": 0.5714285714285714}, {"step": 3009, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3237, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3461, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3461, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3462, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3600, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 3612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.5714285714285714}, {"step": 3615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 3777, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 3952, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3952, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.7142857142857143}, {"step": 4092, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.7142857142857143}, {"step": 4240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.7142857142857143}, {"step": 4241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.8571428571428571}, {"step": 4293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.8571428571428571}, {"step": 4428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.8571428571428571}, {"step": 4466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.8571428571428571}, {"step": 4466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.8571428571428571}]}
\ 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/FruitsOnPlateTask/log_9_env0.json b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_9_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31920d8cc5671e90f82231775975c429995c637b
--- /dev/null
+++ b/harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-09-30_14-44-09_harness/FruitsOnPlateTask/log_9_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnPlateTask", "env_id": 0, "run": 9, "success": false, "final_step": 4500, "events": [{"step": 1, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=orange_02, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for orange_02. All conditions satisfied for orange_02.", "score": 0.14285714285714285}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 305, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 500, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 500, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 550, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.14285714285714285}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.14285714285714285}, {"step": 767, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.14285714285714285}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 837, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 870, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.14285714285714285}, {"step": 870, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01_01). regressing to step 0 for lime01_01.", "score": 0.14285714285714285}, {"step": 887, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01_01). advanced 1 step(s) to step 1 for lime01_01.", "score": 0.14285714285714285}, {"step": 1055, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.2857142857142857}, {"step": 1055, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lime01_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lime01_01. All conditions satisfied for lime01_01.", "score": 0.2857142857142857}, {"step": 1406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.2857142857142857}, {"step": 1571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1571, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=orange_01, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for orange_01. All conditions satisfied for orange_01.", "score": 0.42857142857142855}, {"step": 1717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 1721, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1721, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 1730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.42857142857142855}, {"step": 1732, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.42857142857142855}, {"step": 1732, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1863, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_01). advanced 1 step(s) to step 1 for lemon_01.", "score": 0.42857142857142855}, {"step": 1989, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.42857142857142855}, {"step": 1994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_01). regressing to step 0 for lemon_01.", "score": 0.42857142857142855}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=lemon_01, reference_object=clay_plates, require_gripper_detached=True). advanced 2 step(s) to step 2 for lemon_01. All conditions satisfied for lemon_01.", "score": 0.5714285714285714}, {"step": 2017, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2216, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 2217, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5714285714285714}, {"step": 2222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5714285714285714}, {"step": 2246, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5714285714285714}, {"step": 2261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2262, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2262, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2438, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5714285714285714}, {"step": 2438, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lemon_02). regressing to step 0 for lemon_02.", "score": 0.5714285714285714}, {"step": 2441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lemon_02). advanced 1 step(s) to step 1 for lemon_02.", "score": 0.5714285714285714}, {"step": 2571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2571, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "success: object_on_top(object=lemon_02, reference_object=clay_plates, require_gripper_detached=True). advanced 1 step(s) to step 2 for lemon_02. All conditions satisfied for lemon_02.", "score": 0.7142857142857143}, {"step": 2587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 2702, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.7142857142857143}, {"step": 2706, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.7142857142857143}, {"step": 2811, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.299m", "score": 0.7142857142857143}, {"step": 2841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.7142857142857143}, {"step": 2847, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.066m", "score": 0.7142857142857143}, {"step": 2943, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3038, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3038, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3038, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3039, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3047, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3047, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 3181, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'clay_plates' nudged 0.072m", "score": 0.7142857142857143}, {"step": 3311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 3460, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3460, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3461, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 3492, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3492, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lime01). advanced 1 step(s) to step 1 for lime01.", "score": 0.7142857142857143}, {"step": 3494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 3494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lime01). regressing to step 0 for lime01.", "score": 0.7142857142857143}, {"step": 3587, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.7142857142857143}, {"step": 3650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['orange_01', 'orange_02', 'pomegranate01', 'lime01_01', 'lemon_01', 'lemon_02', 'lime01'])", "score": 0.7142857142857143}, {"step": 3651, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.7142857142857143}, {"step": 3652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 3659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.065m", "score": 0.7142857142857143}, {"step": 3982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.7142857142857143}, {"step": 4132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pomegranate01). regressing to step 0 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pomegranate01). advanced 1 step(s) to step 1 for pomegranate01.", "score": 0.7142857142857143}, {"step": 4204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.7142857142857143}, {"step": 4204, "code": 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