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"require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"orange_01": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='orange_01')", 0.0], ["functools.partial(<function object_on_top at 0x7feb3d574220>, object='orange_01', reference_object='clay_plates', require_gripper_detached=True)", 1.0]], "orange_02": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='orange_02')", 0.0], ["functools.partial(<function object_on_top at 0x7feb3d574220>, object='orange_02', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["counting", "vague", "semantics", "moderate"], "_task_attributes": ["counting", "vague", "semantics", "moderate"], "_task_name": "FruitsOrangesOnPlateTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the oranges on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put all the oranges on the plate", "vague": "Plate the oranges", "specific": "Pick up all of the orange citrus fruit from the table and place them all on the plate, there should be two oranges on the plate"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ae2a099ac565078c4886bdf2d22d06689506ca
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 147, "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": 0.5}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 147, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 147, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..669d5364ff7911aa8ae9a16c35a6aedf54c3df5b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 1, "run": 0, "success": true, "final_step": 126, "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": 0.5}, {"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 126, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb9eb75ee0b78f0016de68b1702c49a9954a0b3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 2, "run": 0, "success": true, "final_step": 137, "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": 0.5}, {"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 137, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cbd5f7b39b96b43c1f5484d30f973119d813ff
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "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": 0.5}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 81, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 81, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 162, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.5}, {"step": 185, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 185, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.5}, {"step": 187, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.5}, {"step": 189, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.141m", "score": 0.5}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.5}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 292, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.5}, {"step": 341, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 360, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.5}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.5}, {"step": 387, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.091m", "score": 0.5}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['orange_01', 'orange_02'])", "score": 0.5}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.5}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1135, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ee91563cd8f8b6d101199ed1edd9d3366ba7c9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 4, "run": 0, "success": true, "final_step": 113, "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": 0.5}, {"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 113, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c4696905338786fe519995a88accb7f7f9da9a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 5, "run": 0, "success": true, "final_step": 112, "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": 0.5}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 112, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..affa67703c0530b7613d9faddfb974a4fc63115d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 6, "run": 0, "success": true, "final_step": 181, "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": 0.5}, {"step": 77, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 78, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 78, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 94, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 181, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..66ddc4f2240ec12be07c069d3cb2a9d8d61baf5a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOrangesOnPlateTask", "env_id": 7, "run": 0, "success": true, "final_step": 128, "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": 0.5}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 88, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=orange_01). advanced 1 step(s) to step 1 for orange_01.", "score": 0.5}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=orange_01). regressing to step 0 for orange_01.", "score": 0.5}, {"step": 128, "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/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..4416e9a8b92f4c2be21ecc56a0ebb1855cbfaddd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/FruitsOrangesOnPlateTask/log_0_env8.json
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"contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Grab a bagel", "contact_object_list": ["table", "bowl", "banana", "bagel_07", "coffee_can", "banana_01", "yogurt_cup", "coffee_pot", "ceramic_mug", "pitcher", "fork_big", "spoon_big", "apple_01", "orange2", "milk_carton", "orange_juice_carton", "bagel_01", "bagel_02", "plate_small", "plate_large"], "_instruction_variants": {"default": "Grab a bagel", "vague": "Grab some bread", "specific": "Reach for one of the bagels on the table and pick it up"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6918991aa49fab03d3ecb7901276072076cb64
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 178, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bagel_02' (target objects: [])", "score": 1.0}, {"step": 226, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bagel_02'", "score": 1.0}, {"step": 425, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_01'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ed87510622f42637c06d6e8ff0e8d44ea53266
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 1, "run": 0, "success": false, "final_step": 450, "events": [{"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'apple_01'", "score": 0.0}, {"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange2' (target objects: ['group3', 'group2', 'group1'])", "score": 0.0}, {"step": 236, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange2'", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb6d1bc09a932ca47c9b3a7fe03cff969f8dd70
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 99, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}, {"step": 308, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bagel_02' nudged 0.052m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da9275e5aa96a5e62267b58eec3169ef163d185
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 3, "run": 0, "success": true, "final_step": 354, "events": [{"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bagel_02'", "score": 1.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'grab_a_bagel' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c11405039368bc3a65157eeb6168555d635ed3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GrabABagelTask", "env_id": 4, "run": 0, "success": false, "final_step": 450, "events": [{"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 164, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana_01'", "score": 0.0}, {"step": 284, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['group3', 'group2', 'group1'])", "score": 0.0}, {"step": 284, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.0}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.0}, {"step": 314, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana_01' (target objects: ['group3', 'group2', 'group1'])", "score": 0.0}, {"step": 315, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana_01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/GrabABagelTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8530700f1332f8f71594c9e3ad08d5bd84acf3
--- /dev/null
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..13938ae88362bb62ce7042376c0b2b146b2c5b00
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 110, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 157, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 236, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 244, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 267, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 537, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 588, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 588, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.303m", "score": 0.3333333333333333}, {"step": 644, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.089m", "score": 0.3333333333333333}, {"step": 654, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.055m", "score": 0.3333333333333333}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 680, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.200m", "score": 0.3333333333333333}, {"step": 689, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.094m", "score": 0.3333333333333333}, {"step": 850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 850, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 852, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 873, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c2d90fe4a70ed94b48ef71d41908fb7f739fbc7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 1, "run": 0, "success": true, "final_step": 1089, "events": [{"step": 105, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 120, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 193, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 451, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 568, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 708, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 708, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1020, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pink_spaghetti_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1020, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1083, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.333m", "score": 0.6666666666666666}, {"step": 1086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1088, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.104m", "score": 0.6666666666666666}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..355d9b3a302767edef1ea53d5cd8403af004b46f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 130, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 462, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 500, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 832, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 861, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 864, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 867, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 870, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1032, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1032, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1321, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1325, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1334, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1377, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1377, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 1422, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.329m", "score": 0.3333333333333333}, {"step": 1426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 1708, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.3333333333333333}, {"step": 1901, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.099m", "score": 0.3333333333333333}, {"step": 1927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1927, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1927, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_15'", "score": 0.3333333333333333}, {"step": 1951, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_15'", "score": 0.3333333333333333}, {"step": 1952, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.084m", "score": 0.3333333333333333}, {"step": 1976, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.062m", "score": 0.3333333333333333}, {"step": 1993, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1993, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2000, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_15'", "score": 0.3333333333333333}, {"step": 2038, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.077m", "score": 0.3333333333333333}, {"step": 2054, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2085, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2085, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2085, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.3333333333333333}, {"step": 2085, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 2086, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2094, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2095, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_15'", "score": 0.3333333333333333}, {"step": 2147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2148, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2158, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2159, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2161, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.329m", "score": 0.3333333333333333}, {"step": 2250, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_15'", "score": 0.3333333333333333}, {"step": 2308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2312, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2329, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.054m", "score": 0.3333333333333333}, {"step": 2371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.061m", "score": 0.3333333333333333}, {"step": 2414, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.063m", "score": 0.3333333333333333}, {"step": 2536, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2538, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'fork_small'", "score": 0.3333333333333333}, {"step": 2539, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2541, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2609, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.307m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..673cda2e03ffdcc4818772cbd90ce431145a1265
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 127, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 165, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 172, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 359, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 564, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 586, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 605, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 703, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 716, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 722, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 759, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 825, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 850, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.055m", "score": 0.0}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.311m", "score": 0.0}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.301m", "score": 0.0}, {"step": 856, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.101m", "score": 0.0}, {"step": 861, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.398m", "score": 0.0}, {"step": 874, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.435m", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.062m", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.159m", "score": 0.0}, {"step": 891, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plate_small' displaced 0.566m", "score": 0.0}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.233m", "score": 0.0}, {"step": 891, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_13' displaced 0.554m", "score": 0.0}, {"step": 891, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.196m", "score": 0.0}, {"step": 903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 928, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.367m", "score": 0.0}, {"step": 929, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.267m", "score": 0.0}, {"step": 929, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_small' nudged 0.333m", "score": 0.0}, {"step": 933, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.360m", "score": 0.0}, {"step": 934, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_big' displaced 0.512m", "score": 0.0}, {"step": 934, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'spatula_13' displaced 0.505m", "score": 0.0}, {"step": 948, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1044, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1090, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.3333333333333333}, {"step": 1096, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1131, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1140, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1140, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_15'", "score": 0.3333333333333333}, {"step": 1196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.3333333333333333}, {"step": 1196, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 1197, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1199, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1205, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1214, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_15' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1216, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_15'", "score": 0.3333333333333333}, {"step": 1226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.236m", "score": 0.3333333333333333}, {"step": 1352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1389, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.3333333333333333}, {"step": 1396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1544, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.088m", "score": 0.3333333333333333}, {"step": 1606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1709, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1710, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1835, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1929, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2535, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2550, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2554, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 2554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2605, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.315m", "score": 0.3333333333333333}, {"step": 2644, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.115m", "score": 0.3333333333333333}, {"step": 2662, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2666, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.155m", "score": 0.3333333333333333}, {"step": 2671, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2673, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.3333333333333333}, {"step": 2694, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 2696, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..db5dae4eb8c0868185d819c4c75c785e48a0326c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 121, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 139, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 262, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 322, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 328, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 342, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 372, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 374, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 391, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 468, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 497, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 516, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 543, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 549, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 563, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 620, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 620, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 620, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 645, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 646, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 657, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.0}, {"step": 773, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 793, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 793, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 797, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 903, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.0}, {"step": 961, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 963, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 963, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 964, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 965, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 968, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.0}, {"step": 1088, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1088, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1360, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1488, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2030, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2202, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2242, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2329, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2342, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2357, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2360, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2364, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2430, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2435, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2477, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2562, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 2657, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a2d5b5ddf5405ab711a9fe3ccdbea81137ac42
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 5, "run": 0, "success": true, "final_step": 1962, "events": [{"step": 5, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 224, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 241, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 276, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 281, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 544, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 572, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 599, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 727, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 738, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 743, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 786, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 925, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 939, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1058, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1060, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1060, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1077, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1081, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1081, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 1230, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1230, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 1232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 1531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1531, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle. All conditions satisfied for ladle.", "score": 0.6666666666666666}, {"step": 1771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 1775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 1802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 1809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.6666666666666666}, {"step": 1838, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_large'", "score": 0.6666666666666666}, {"step": 1839, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1840, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.6666666666666666}, {"step": 1841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_large' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1846, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_large'", "score": 0.6666666666666666}, {"step": 1847, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.6666666666666666}, {"step": 1849, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1962, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1962, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6178b10784fd0da70182736270f68196a7fc81d4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 153, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 189, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 217, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 220, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 225, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 234, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 234, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 249, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 298, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 301, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 313, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 371, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 382, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 385, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 603, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 648, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 660, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_serving_spoon'", "score": 0.0}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 694, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 696, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.0}, {"step": 702, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 704, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.0}, {"step": 705, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 711, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 711, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.167m", "score": 0.0}, {"step": 720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 722, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.0}, {"step": 728, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.0}, {"step": 729, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.0}, {"step": 734, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.106m", "score": 0.0}, {"step": 833, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1013, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1089, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.0}, {"step": 1186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.0}, {"step": 1187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.3333333333333333}, {"step": 1407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1440, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 1442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1462, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1483, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1567, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 1764, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.105m", "score": 0.3333333333333333}, {"step": 1829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'anza_medium' nudged 0.053m", "score": 0.3333333333333333}, {"step": 2013, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..447ddaad1ab82239b780ea9051ce27ac78730360
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 144, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 204, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 410, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 452, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 452, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.3333333333333333}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.3333333333333333}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 820, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 823, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 829, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 829, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plate_small'", "score": 0.3333333333333333}, {"step": 852, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plate_small' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plate_small'", "score": 0.3333333333333333}, {"step": 870, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 927, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 954, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 967, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 973, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 973, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 973, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 1051, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.3333333333333333}, {"step": 1060, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.203m", "score": 0.3333333333333333}, {"step": 1141, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_15'", "score": 0.3333333333333333}, {"step": 1148, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.3333333333333333}, {"step": 1257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1267, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.063m", "score": 0.3333333333333333}, {"step": 1293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.129m", "score": 0.3333333333333333}, {"step": 1300, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.050m", "score": 0.3333333333333333}, {"step": 1309, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1312, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula_14' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.3333333333333333}, {"step": 1329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula_14'", "score": 0.3333333333333333}, {"step": 1332, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_14' nudged 0.447m", "score": 0.3333333333333333}, {"step": 1367, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1373, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1500, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1505, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1576, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1582, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1597, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1599, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_15' nudged 0.079m", "score": 0.6666666666666666}, {"step": 1902, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pink_spaghetti_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1902, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1960, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1961, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pink_spaghetti_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1962, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1963, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pink_spaghetti_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1964, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pink_spaghetti_spoon'", "score": 0.6666666666666666}, {"step": 1979, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pink_spaghetti_spoon' nudged 0.301m", "score": 0.6666666666666666}, {"step": 2154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb841c2dbed03eec0920525d27ff7dce62974e4b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 216, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 316, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 346, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 419, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 429, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 430, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 536, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for green_serving_spoon. All conditions satisfied for green_serving_spoon.", "score": 0.3333333333333333}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 674, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 674, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 973, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 973, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 991, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 991, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle_01). regressing to step 0 for ladle_01.", "score": 0.3333333333333333}, {"step": 1243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle_01). advanced 1 step(s) to step 1 for ladle_01.", "score": 0.3333333333333333}, {"step": 1340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1340, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=ladle_01, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for ladle_01. All conditions satisfied for ladle_01.", "score": 0.6666666666666666}, {"step": 1452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=ladle). advanced 1 step(s) to step 1 for ladle.", "score": 0.6666666666666666}, {"step": 1544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=ladle). regressing to step 0 for ladle.", "score": 0.6666666666666666}, {"step": 1685, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1733, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1743, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1754, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1763, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1763, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1763, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 1833, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 1836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.289m", "score": 0.6666666666666666}, {"step": 1842, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 1846, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 1851, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.209m", "score": 0.6666666666666666}, {"step": 2041, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2048, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2049, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2051, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2083, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 2086, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2099, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.185m", "score": 0.6666666666666666}, {"step": 2102, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 2111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 2116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'anza_medium' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2116, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.211m", "score": 0.6666666666666666}, {"step": 2132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'anza_medium'", "score": 0.6666666666666666}, {"step": 2223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2260, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2313, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2315, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2322, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2327, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 2330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2335, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.319m", "score": 0.6666666666666666}, {"step": 2414, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 2420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.092m", "score": 0.6666666666666666}, {"step": 2535, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_serving_spoon' (target objects: ['ladle', 'green_serving_spoon', 'ladle_01'])", "score": 0.6666666666666666}, {"step": 2535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2536, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_serving_spoon'", "score": 0.6666666666666666}, {"step": 2575, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_serving_spoon' nudged 0.116m", "score": 0.6666666666666666}, {"step": 2664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae31635428a1268bba5c9e71a8daa287acb1156
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/GreenSpoonsInPotTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "GreenSpoonsInPotTask", "env_id": 9, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 212, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=green_serving_spoon). advanced 1 step(s) to step 1 for green_serving_spoon.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=green_serving_spoon). regressing to step 0 for green_serving_spoon.", "score": 0.0}, {"step": 324, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=green_serving_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for green_serving_spoon. 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\ No newline at end of file
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..595567377f1a65e40923d4bff80158e29d711af4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 53, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'butter' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 74, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'butter'", "score": 0.0}, {"step": 106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'butter' nudged 0.390m", "score": 0.0}, {"step": 110, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'butter'", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1965170c16e698a6397ed4f3e8818b86b38ee468
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 1, "run": 0, "success": true, "final_step": 331, "events": [{"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 87, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'butter' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'butter'", "score": 0.0}, {"step": 104, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'butter'", "score": 0.0}, {"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'butter' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'butter'", "score": 0.0}, {"step": 116, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'butter' nudged 0.407m", "score": 0.0}, {"step": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 331, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0368f796ca6fa57da9ff043bbe02d499bca40f85
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "LargerObjectRaisinBoxInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 450, "events": [{"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 124, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'butter' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 180, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'butter'", "score": 0.0}, {"step": 191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'butter'", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 272, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 300, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'butter' (target objects: ['raisin_box'])", "score": 0.0}, {"step": 315, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'butter'", "score": 0.0}, {"step": 319, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'butter' nudged 0.167m", "score": 0.0}, {"step": 341, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 430, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=raisin_box). regressing to step 0 for raisin_box.", "score": 0.0}, {"step": 444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 450, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=raisin_box). advanced 1 step(s) to step 1 for raisin_box.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd2c2aeff782c4a299f0c27c4e663615b555d9b5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env3.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env4.json
new file mode 100644
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env5.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env6.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env7.json
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+++ b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env7.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env8.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/log_0_env9.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-42_pi05/LargerObjectRaisinBoxInBinTask/run_0.hdf5
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", "contact_object_list": ["mustard_bottle", "raisin_box", "table"], "_instruction_variants": {"default": "Place the mustard on the raisin box. ", "vague": "Put bottle on box", "specific": "Pick up the mustard bottle and put it on top of the raisin box. The mustard should end up directly above the raisin box."}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..923c2579c246037a4b448d3a65a36e68d09d21e4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 0, "run": 0, "success": true, "final_step": 356, "events": [{"step": 69, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 356, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 356, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..078163af2bfae63554ba902c968899d9d6a4b348
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 1, "run": 0, "success": false, "final_step": 600, "events": [{"step": 65, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 92, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 92, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 107, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..df79626566bbee68fc9645eb674122eb67846027
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 2, "run": 0, "success": true, "final_step": 166, "events": [{"step": 66, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fed0e442634829fd17dc51e699e9e4880f95806
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 3, "run": 0, "success": true, "final_step": 91, "events": [{"step": 42, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..db3b5a461f1f2fb7de15cfe30ced1bae8406c4ab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 4, "run": 0, "success": true, "final_step": 135, "events": [{"step": 46, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fdadcd97a6145c1c7f6b24cb937c5461325f03d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 5, "run": 0, "success": true, "final_step": 207, "events": [{"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ee1c874ba695d355de9d44cf31c433d6f00447
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardAboveRaisinTask", "env_id": 6, "run": 0, "success": true, "final_step": 180, "events": [{"step": 69, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard_bottle). advanced 1 step(s) to step 1 for mustard_bottle.", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard_bottle). regressing to step 0 for mustard_bottle.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c54c16bfa3d2ff0411c70a3ffee9f7c9643ef7aa
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env7.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d8de9d8200f155846029b0e6da6b9a27ce9942
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env8.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb277b3b49bcaeb5df21850cecdde1f4d885caf1
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/log_0_env9.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/run_0.hdf5
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--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/MustardAboveRaisinTask/run_0.hdf5
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